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Human detection robot (ROHSAR)

Technical Report · September 2016

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 The University of Turkish Aeronautical Association
Faculty of engineering, EEE department

Human detection robot

Omar Saadi Fathi Alshear Qutaiba madhat Faris Nori Shaker AL-LUHAIBI

UTAA UTAA UTAA

Ankara, Turkey Ankara, Turkey Ankara, Turkey

Supervisor: Assist. Prof. Dr. Abdellatif BABA

Department of Electrical Engineering

UTAA, Ankara, Turkey

2016
 HUMAN DETECTION ROBOT

R.O.H.S.A.R
(Remotely Operated Human Search And Rescue Robot)

Abstract -this project aims to give a practical design to build the first and
simplified version of a rescue robot which has to be active within disaster areas
like collapsed buildings where rescue teams cannot operate due to a lot of technical
difficulties. Human detection for rescue purpose is normally carried out by humans
in such conditions, but when there is a risk of collapse or hazardous environment it
will better to utilize some high tech equipment to achieve that mission rapidly and
effectively.

Introduction

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 sensor). Once a human target is located
the system has to give an alert which may help to localize the victim location as
soon as possible. The main design of the robot consists of a 'Human Detection
Module' carried by a mobile robot platform sufficiently small enough to wander
around the area and carry out its search activity. 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. The human detection module utilizes also an infrared LED lighting to
show off the robot’s surrounding under low or no light conditions.
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.
Examples of rescue robot platforms.
 A remotely controlled tracked wheel robotic platform is selected for the
main carrier. The reasons for this selection are:

- An autonomous robot can get stuck somewhere in the debris and it may not be
rescued by the team because of the lack of manual control.

- A wired control robot is not practical because of the need for a long wire which
can tangle anywhere in the debris and the robot can be operational.

- Wireless remote control will have a shorter distance under collapsed building but
manual control of the robot is valuable anyway and rescue team can enter the
disaster area to some extent and utilize the robot from there on.

- A tracked wheel platform is selected because wheels are not practical to operate
in such disaster areas but tracked robot can move over small obstacles better.

The robot carries a wireless camera which can transmit live video and audio
in low light conditions to the rescue team outside the vicinity in a safe place. Live
video is transmitted to any Android device (cell phone or laptop) so these can
easily be found anywhere in the world. Thus, human detection is easily carried out
by the research personnel.

Human detection module of the robot is mainly a PIR sensor controlled by

an Arduino microprocessor. When a human is present within the range of the
sensor (4-5 meters) it creates a detection signal (a digital pin goes high) which is
processed by Arduino and a red signal LED is lit on to indicate the detection. The
PIR sensor can detect motion and keep signaling (retriggering) but it will stop
when motion stops. This is why we have a camera onboard the robot. The human
detection module also has infrared lighting. The purpose of these LEDs is to
provide lighting in low or no light conditions for the camera.
 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 (they can only handle 40-50 mA) actually a power led is added to the
system for providing extra lighting and it is driven directly from the power bank
but a proper 7805 voltage regulator circuit is added. The PIR sensor is safely
powered by Arduino 5V and GND pins and its data signal pin is monitored using a
digital input pin of Arduino. The whole system is powered by two 7,2v
rechargeable battery packs for extended operation. Arduino can be powered from
its power connector safely up to 12v because it has an internal voltage regulator.
So 7.2-volt NiMh batteries can be directly fed into Arduino external power jack.
Arduino can also be powered directly from its +5v power pin which means it can
also be powered by 4 AA rechargeable batteries providing 4.8v.
Implementation:

We first started by finding a remote controlled model vehicle with tank

tracks to suit our needs. We decided to use a tracked RC model.

We dismantled the model and get rid of unnecessary parts, kept only the remote
controller and tracked undercarriage chassis. We then modified the remote
controller to hold a cell phone.
 The power bank of the model was too small so we added another set of
batteries to ensure extended operation in the disaster area.

Then we mounted the PIR sensor and lights on the carriage. The power bank
is also modified to charge from a single jack and powers all the electronics. There
are 2 white LEDs always powered on and a remote controlled power led to use
whenever needed. The detection red led is placed in camera view.
 The PIR sensor is monitored by Arduino and the program is written and
uploaded to Arduino. Whenever a human detection occurs, the red led lights up
and can be seen by the team in order to pay attention to the live video provided by
the camera. If the PIR sensor generates false alerts, this will also be monitored by
the video and considered by the operation team. So the camera is so important. The
team will move the robot in the vicinity, stop it and carry on a PIR search. The
video will also show human casualty presence in the disaster area. Non-moving,
severely hurt casualties will also be seen.

The camera is placed in a pod at the center of the robot with a wide angle
view. It will see the surrounding totally and send the live video to the research
team.
 Completed robot is compact to fit any disaster area. It can operate virtually
in any place. It can climb over small obstacles and can fit into small holes in which
no human rescue team member can get into. The turret where the camera is
mounted can rotate to see the surrounding. So the complete robot should not need
to be rotated totally.

Operation:

The robot is carried to the disaster area and mounted. The batteries must be
charged totally before the operation. The camera must be synchronized with a cell
phone over Wi-Fi and the cell phone must be placed in the holder on the remote
controller. Then the robot is powered on and the operator manually drives the robot
inside the disaster area. The robot is then moved to the vicinity to search for
casualties. To enable human detection the robot is stopped and checked for any
human detection looking at the red led. If the LED is ON that means a human
casualty is around. PIR sensor can detect humans within 4-5 meters. Then the robot
is manually driven to that area to look closer. If the lighting conditions are poor,
the power led is enabled for extra lighting. The operator rotates the turret and the
camera to see the surrounding details. The team makes a consideration plan and
enters the disaster area to rescue the victims.

If a camera with night vision is used, the power led can be replaced with an IR led
and night vision can be enabled. We implemented the project with a minimum
budget. This is a concept project and it can be modified in various ways.
PIR SENSOR:
The thermal radiation emitted by a human body will be received and manipulated
by the PIR sensor in order to achieve a human detection. PIR sensors are passive
infrared sensors. They detect a 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, therefore 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

ATMEGA328 microcontroller:
It’s a high performance 8-bit AVR RISC microcontroller. It consists of a 32KB
ISP flash memory, and it also consists of a read while writing capability

Arduino Uno

The circuit diagram

Wireless camera
That can transmit live video and audio in low light conditions to the rescue team
outside the vicinity in a safe place.

CODE:
PIR – detect
/* Human Detection with PIR sensor
*
* Switches a LED according to the state of the sensor's output pin.
* Determines the beginning and end of continuous motion sequences.
* PIR sensor connections: +5v GND Data
*
*
* The sensor's output pin goes to HIGH if the motion is present.
* However, even if motion is present it goes to LOW from time to time,
* which might give the impression no motion is present.
* This program deals with this issue by ignoring LOW-phases shorter than a given
time,
* assuming continuous motion is present during these phases.
* July, 2016
*/

//the time we give the sensor to calibrate (10-60 secs according to the datasheet)
int calibrationTime = 10;

//the time when the sensor outputs a low impulse

long unsigned int lowIn;
//the amount of milliseconds the sensor has to be low
//before we assume all motion has stopped
long unsigned int pause = 5000;

boolean lockLow = true;

boolean takeLowTime;

int pirPin = 3; //the digital pin connected to the PIR sensor's output
int ledPin = 11; //signal led pwm pin 11
int MotStart;
int MotEnd;

void setup(){
Serial.begin(9600);
pinMode(pirPin, INPUT);
pinMode(ledPin, OUTPUT);
digitalWrite(pirPin, LOW);

//give the sensor some time to calibrate

Serial.print("calibrating sensor ");
for(int i = 0; i < calibrationTime; i++){
Serial.print(".");
delay(1000);
}
Serial.println(" done");
Serial.println("SENSOR ACTIVE");
 delay(50);
}

void loop(){

if(digitalRead(pirPin) == HIGH){
digitalWrite(ledPin, HIGH); //the led visualizes the sensors output pin state
if(lockLow){
//makes sure we wait for a transition to LOW before any further output is
made:
lockLow = false;
Serial.println("---");
Serial.print("motion detected at ");
Serial.print(millis()/1000); MotStart=millis()/1000;
Serial.println(" sec");
delay(50);
}
takeLowTime = true;
}

if(digitalRead(pirPin) == LOW){
digitalWrite(ledPin, LOW); //the led visualizes the sensors output pin state

if(takeLowTime){
lowIn = millis(); //save the time of the transition from high to LOW
takeLowTime = false; //make sure this is only done at the start of a LOW
phase
 }
//if the sensor is low for more than the given pause,
//we assume that no more motion is going to happen
if(!lockLow && millis() - lowIn > pause){
//makes sure this block of code is only executed again after
//a new motion sequence has been detected
lockLow = true;
Serial.print("motion ended at "); //output
Serial.print((millis() - pause)/1000); MotEnd=((millis() - pause)/1000);
Serial.println(" sec");
Serial.print(" Motion lasted ");
Serial.print(MotEnd-MotStart);
Serial.println(" secs");
delay(50);
}
}
}

CONCLUSION AND FUTURE WORK

In this report, we have introduced our primitive idea to make a rescue robot using
some types of primitive sensors like PIR and a simple Wi-Fi camera. 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. Our final goal is to develop a full autonomous rescue robot.
 REFERENCES
[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.
[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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