A study of operational liability of the Medical Rescue Robot under disaster
A STUDY OF OPERATIONAL LIABILITY OF THE MEDICAL RESCUE ROBOT UNDER DISASTERDepartment of Electronics and Communication EngineeringB.M.S COLLEGE OF ENGINEERING(Autonomous College Affiliated to Visvesvaraya Technological University, Belgaum)Bull Temple Road, Basavanagudi, Bangalore-560019
Seminar Report By:
Pramod K 1BM10EC075OBJECTIVESTo prevent CRUSH SYNDROME
To design DUAL CRAWLER TYPE rescue Robot
Improve manuevaribilityCrush syndromeIn all these disasters many victims who have been trapped under fallen masonry died by the symptom of crush syndromeIts amedicalcondition characterized by majorshockcausing crushinginjury toskeletal muscle.Crushinjuryis compression of parts of the body that causes muscle swelling and/or neurological disturbances in the effected areas of the body.Crush injury causes skin injury, swelling, paralysis, severe pain, renal failure etc.
Why rescue robots?
During a disaster scenario, for example a collapsed building after an earthquake, it is often very dangerous for human emergency forces to reach a casualty. Rescue robots can be operated in areas having dangerous substances, poor visibility, narrow spaces & radioactive leak to nd victims and supply essential medicine or food.The task of the robot is now to find the hidden victims with the help of wide range of sensors such as infrared sensors, laser scanners and gas sensors
RESCUE ROBOT CHALLENGES
SearchingReconnaissance and mappingRubble removalStructural inspectionMedical assessment and interventionProviding logistic supportBLOCK DIAGRAM
HARDWARE COMPONENTS:1. Embedded Microcontroller PIC / ARM2. Zigbee Transmitter and Receivers / RF Transceivers3. PIR Sensor4. Motor5. Motor drive6. Buzzer 7. RF camera
MICROCONTROLLER
PIC/ ARM microcontroller is used .Signals from various sensors are given to the microcontroller and itll digitize the signal and send it to the zigbee. The controller has inbuilt ADC, required to get the signals from the various sensors. 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.
PIR SENSOR
PIR sensors are passive infra-red sensors. They detect change in the heat and this can be used to detect movement of people. It operates at 5V DC. Its a pyro electric device that measures changes in the infrared (heat) levels emitted by surrounding objects. Thus 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.Detection range up to 20 feet away.
MOTOR AND MOTOR DRIVE
The project uses DC motor. DC motors have polarity and direction of rotation depends on direction of current. A motor cannot be interfaced to the microcontroller directly because it requires much higher voltage and current. Motor drive is used as the interfacing circuit between microcontroller and robot to supply required power to the motor.
VOLTAGE CONVERSION CIRCUIT
The operating voltage of Zigbee/ RF transceiver and PC are different hence we need a voltage conversion circuit. This circuit is required to connect to the serial port of a computer called the RS232 port. 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 computerWORKING PRINCIPLE:
From transmitter side we will control the moments of vehicle (forward/reverse/left and right) using keys of the keyboard by looking at the video in computer. The communication will be taken place using RF technology. When we try to control the remote vehicle by using the keys of keyboard the RF encoder will send the encrypted code to robot.The action what ever taken place by the motor can be seen in the computer by using TV tuner card.We have only used 4 bits of combinations is used to control the movement of vehicle.
Ex:0001 - Forward0010 - Reverse0011 - Left0100 - Right
The vehicle is equipped with PIR sensor and wireless camera. The PIR sensor is used to detect the movements around the vehicle depending on IR density variation. In the vehicle side, the RF receiver will receive the signals and decode it as commands using decoder chips.The wireless camera that has built in transmitter to transmit the video signals is connected camera to the microcontroller. By viewing the video received at the controller station the movement of the vehicle can be controlled.
Additional features of the Rescue Robot
Dual tiered crawler system: We cannot adopt existing crawler mechanism to the Rescue Robot to make it work under rubble. Existing crawler robots are too hard to proceed under rubble.Because the crawlers rotational direction lead that it cannot do though narrow space vertically. Therefore the dual tiered crawler that can travel in adverse directions is used. This crawler system could grip obstructions above, and it was possible to even use as foothold.
Vital Sign Sensor ProbeThe Vital Sign Sensor Probe is composed of Near Infrared Camera, Infrared LED Light and Microphone/Speaker. These Sensors are equipped with tip of the flexible arm.The Near Infrared Camera and the Light checks the victim status and blood flow measurement visually. The Microphone is used to determine responsiveness of victims and check their heartbeat. The Speaker is used to call the victim and give their encouragement.The doctor and operator utilize them for determining the severity of the victims. Because hemoglobin absorbs near infrared light (wavelengths about 780nm), we can confirm superficial veins and the flow.
Mechanism of the Crush Syndrome preventionIt goes through under rubble with squeezing rubble and reached to victim.After removal of rubble, affected parts of victims are tighten smoothly by cuff to prevent crush syndrome. The cuff is an inflatable band. The cuff is inflated rapidly by using carbon dioxide gas from small-sized cylinder. It is able to stop blood flow around affected part (mostly leg) by inflate cuff pressure.
Cuff works to prevent re-circulating of blood that causes contamination, which prevents the Crush syndrome.And the victim is picked up in the container inside of the Robot body.After picking up the victim in the container, the Rescue Robot goes back from under rubble to ground. Rescue Robot operation
Proposed design of Robot
Appearance of the Rescue Robot
Thank You
