Arduino Based Borewell Rescue Robot: Dept of Electrical and Electronic Engg

ARDUINO BASED BOREWELL RESCUE ROBOT
CONTENTS
Chapter 1
1.1 Introduction
1.2 Existing system
Chapter 2
2.1 Proposed system
2.1.1 Block diagram
2.1.2 Circuit diagram
2.1 .3 Expected results
Chapter 3
3.1 Battery
3.2 Bluetooth device
3.3 Motor driver IC
3.4 Motors
3.4.1 DC motors
3.4.2 Servo motors
3.5 Temperature and humidity sensor
3.6 Arduino UNO
3.7 Wireless camera
3.8 Oxygen pump
3.9 Robot Arm
Dept of electrical and electronic engg
Page 1
Chapter 4
4.1 Data sheet
4.2 Advantages
4.3 Disadvantages
4.4 Applications
4.5 Conclusion
4.6 References
Page 2
Chapter -1
1.1 INTRODUCTION:
Children often fall down in the borewell which have been left uncovered and get trapped. The rescue
of this trapped children is not only difficult but also risky. A small delay in the rescue can cost the
child his or her life. To lift the child out the narrow confines of the bore wells is also not very easy.
The child who has suffered the trauma of the fall and is confined to a small area where, with a
passage of time the supply of oxygen is also reduces.
Robot for borewell rescue offers a solution to these kind of situations. It is a robot that has been
designed for the purpose of aiding rescue workers. It is fast, economical and safe. Moreover, it has
the facility to monitor the trapped child, supply oxygen and provide a supporting platform to lift up
the child.
Today’s major problem faced by human society is water scarcity, which leads to a large number of
borewells being sunk. These bore wells in terrn have started to take many innocent lives. Bores which
yielded water and subsequently got depleted are left uncovered. A suitably strong cap of bright
colour to cover the mouth of the bore will avoid such accidents. Small children without noticing the
hole, dug for the borewell slip in and get trapped. Human search of water finally has ended in
disaster. Since the holes are dug too deep it is quite impossible to save life. The fire force and
medical team find it difficult to rescue children due to unknown levels of humidity, temperature and
oxygen in the depths of the borewell. Rescue work can be a long drawn affair lasting close to thirty
hours. The time taken is long enough to kill a precious life. Even if rescued the child may die due to
injuries sustained. This has created an open challenge.
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1.2 EXISTING SYSTEM
The main objective of this project is to make it possible for a child fall inside borewell to rescue
without any injury and supply oxygen. This goal is achieved by controlling a robot to take of the child
inside the borewell which is controlled by the person from outside. In existing system, a big hole is
dug beside the bore well up to the depth where the child is stuck. A small delay in this resources
accumulation may reduce the chances of saving child alive. If the area beside the bore hole contains
rocks below certain depth, in such cases the chance of saving child alive is very low. Lack of oxygen
inside the borewell and lack of light sources causes the major difficulty during the rescue operation.
There is no such special equipment for rescuing the child trapped inside the borewell. There is no
proper technique to rescue victims of such accidents. When the local arrangements do not work, army
is called in. In most cases reported so far, a parallel hole is dug up and then a horizontal path is
made to reach to the subject’s body. It is not only a time taking process, but also risky in various
ways. Moreover it involves a lot of energy and expensive resources which are not easily available
everywhere and in this process we always need big space around trapped bore that we can dig.
Whatever may be the case the success ratio depends on lots of factors like availability of time taken
for transportation of machinery to the situation, human resources and mainly the response time of
various government organizations.
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Fig.1 Existing system
Chapter -- 2
2.1 PROPOSED SYSTEM
This work is aimed towards the construction and designing of a robotic system to work in borehole
rescue operations and to detect faults inside the pipeline. It has the facility to monitor the trapped child,
supply oxygen and provide a supporting platform to lift up the child, Temperature and humidity
monitoring system.
Page 5
Fig.2 Proposed system
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2.1.1 BLOCK DIAGRAM
Regulated
Power supply 5V
Bluetooth Module
12V battery
Temp & Humid Sensor
(DHT 11) Arduino
UNO
` Servo Motor
Battery Motors Driver
9V
Oxygen Pump Oxygen Pump

Driver DC motors
Fig.3 Block diagram
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2.1.2 CIRCUIT DIAGRAM
Fig.4 Circuit diagram
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2.1.3 EXPECTED RESULTS
Fig.5 Expected result
Page 9
Fig.6 Expected result
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Chapter 3
3.1 BATTERY
An electric battery is a device consisting of one or more electrochemical cells with external
connections provided to power electrical devices such as flashlights, smart phones, and electric cars.
We have installed 12v DC rechargeable battery which powers arduino, four drive PMDC motors of
100rpm..
Fig.7 Battery
Typical 12v lead acid battery consists of six lead acid galvanic cells connected in series and housed
within a battery case. Each cell contains two types of electrodes one for each half of the lead-acid
radox reaction – a negative lead (Pb) anode, and a positive lead dioxide(Pbo2) cathode. There can
be more than one pair of electrodes per cell depending on the cell design.
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3.2 BLUETOOTH DEVICE
HC-05 is a Bluetooth device used for wireless communication with Bluetooth enabled devices (like smart
phone). It communicates with microcontrollers using serial communication (USART).
Default settings of HC-05 Bluetooth module can be changed using certain AT commands. As HC-05
Bluetooth module has 3.3 V level for RX/TX and microcontroller can detect 3.3 V level, so, there is no need
to shift TX voltage level of HC-05 module. But we need to shift the transmit voltage level from
microcontroller to RX of HC-05 module.
Class 1 devices transmit at 100 mW with a range of 100 meters or 328 feet. Class 2 devices transmit at
2.5 mW with a range of 10 meters or 33 feet. Most Bluetooth headsets and headphones are common Class 2
devices.
A Bluetooth transceiver module has been installed in the robot. This device helps in the control of the robot
through smart phones. This project is a Bluetooth controlled robot. For this the android mobile users has to
install an application on their mobile. Then user needs to turn on the Bluetooth in the mobile.
The wireless communication techniques used to control the robot is bluetooth technology. User can use
various commands like move forward, reverse, stop, move left, move right. These commands are sent from
the android mobile to the Bluetooth receiver which receives the commands and give it to the arduino to
control the motors. The arduino then transmits the signal to the motor driver IC’s to operate the motors.
When the battery is switched on, the Bluetooth is on and is connected to the Smartphone.
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Pin Description
Bluetooth serial modules allow all serial enabled devices to communicate with each other using Bluetooth.
It has 6 pins,
1. Key/EN: It is used to bring Bluetooth module in AT commands mode. If Key/EN pin is set to high, then
this module will work in command mode. Otherwise by default it is in data mode. The default baud rate of
HC-05 in command mode is 38400bps and 9600 in data mode.
HC-05 module has two modes,
1. Data mode: Exchange of data between devices.
2. Command mode: It uses AT commands which are used to change setting of HC-05. To send these
commands to module serial (USART) port is used.
2. VCC: Connect 5 V or 3.3 V to this Pin.
3. GND: Ground Pin of module.
4. TXD: Transmit Serial data (wirelessly received data by Bluetooth module transmitted out serially on
TXD pin)
5. RXD: Receive data serially (received data will be transmitted wirelessly by Bluetooth module).
6. State: It tells whether module is connected or not.
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The following are some of the features of Bluetooth device used:
1. Serial port Bluetooth Drop-in replacement for wired serial connections.

2. Frequency – 2.4GHZ
3. BER Speed: Asynchronous: 2.1 Mbps(Max) / 160 kbps, Synchronous: 1Mbps
4. Bluetooth serial port Power supply: +3.3VDC 10m.
Fig8.Bluetooth device
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3.3 L293D IC (DC MOTOR DRIVER)
Fig.9 motor driver IC
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Fig 10. L293D IC
The L293 and L293D are quadruple high-current half-H drivers. The L293 is designed to provide
bidirectional drive currents of up to 1 A at voltages from 4.5 V to 36 V. The L293D is designed to
provide bidirectional drive currents of up to 600-mA at voltages from 4.5 V to 36 V. Both devices
are designed to drive inductive loads such as relays, solenoids, dc and bipolar stepping motors. All
inputs are TTL compatible. Drivers are enabled in pairs, with drivers 1 and 2 enabled by 1,2EN and
drivers 3 and 4 enabled by 3,4EN.
When an enable input is high, the associated drivers are enabled and their outputs are active and in
phase with their inputs. When the enable input is low, those drivers are disabled and their outputs
are off and in the high-impedance state. With the proper data inputs, each pair of drivers forms a
full-H (or bridge) reversible drive suitable for solenoid or motor applications. On the L293, external
high-speed output clamp diodes should be used for inductive transient suppression. A VCC1
terminal, separate from VCC2, is provided for the logic inputs to minimize device power dissipation.
The L293and L293D are characterized for operation from 0°C to 70°C.
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3.4.1 DC MOTORS:
Fig.11 PMDC motor
DC (direct current) motor works on the principle, when a current carrying conductor is placed in a
magnetic field; it experiences a torque and has a tendency to move. If the direction of current in the
wire is reversed, the direction of rotation also reverses. When magnetic field and electric field
interact they produce a mechanical force, and based on that the working principle of dc motor
established. Usually PMDC motors are used in robotics of 100 rpm, 200 rpm. It is easy to control the
speed and direction of a dc motor. Due to high ratio of torque to inertia, dc motor responses quickly
to control signal.
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Characteristics of PMDC motors are similar to the characteristics of dc shunt motor in terms of torque,

speed and armature current. However, speed-torque characteristics are more linear and predictable in
PMDC motors.
Characteristics of dc motor
Fig.12 Characteristics of dc motor
3.4.2 SERVO MOTOR
Types of servo motors
Servo motors are classified into different types based on their application, such as AC servo motor,
DC servo motor, brushless DC servo motor, positional rotation, continuous rotation and linear servo
motor etc. Typical servo motors comprise of three wires namely, power control and ground. The
shape and size of these motors depend on their applications. RC servo motor is the most common
type of servo motor used in hobby applications, robotics due to their simplicity, affordability and
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reliability of control by microprocessors.
DC Servo Motor
The motor which is used as a DC servo motor generally have a separate DC source in the field of
winding & armature winding. The control can be archived either by controlling the armature current or
field current. Field control includes some particular advantages over armature control. In the same
way armature control includes some advantages over field control. Based on the applications the
control should be applied to the DC servo motor.
DC servo motor provides very accurate and also fast respond to start or stop command signals due
to the low armature inductive reactance. DC servo motors are used in similar equipments and
computerized numerically controlled machines.
Fig.13 Dc servo motor
AC Servo Motor
AC servo motor is an AC motor that includes encoder is used with controllers for giving closed loop
control and feedback. This motor can be placed to high accuracy and also controlled precisely as
compulsory for the applications. Frequently these motors have higher designs of tolerance or better
bearings and some simple designs also use higher voltages in order to accomplish greater
torque. Applications of an AC motor mainly involve in automation, robotics, CNC machinery, and other
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applications a high level of precision and needful versatility.
3.5 DHT11 TEMPERATURE AND HUMIDITY SENSOR
DHT11 is a part of DHTXX series of Humidity sensors. The other sensor in this series is DHT22. Both
these sensors are Relative Humidity (RH) Sensor. As a result, they will measure both the humidity
and temperature. Although DHT11 Humidity Sensors are cheap and slow, they are very popular
among hobbyists and beginners.
Fig.14 temperature and humidity sensor
The DHT11 Humidity and Temperature Sensor consists of 3 main components. A resistive type
humidity sensor, an NTC (negative temperature coefficient) thermistor (to measure the temperature)
and an 8-bit microcontroller, which converts the analog signals from both the sensors and sends out
single digital signal. This digital signal can be read by any microcontroller or microprocessor for
further analysis.
DHT11 Humidity Sensor consists of 4 pins: VCC, Data Out, Not Connected (NC) and GND. The range
of voltage for VCC pin is 3.5V to 5.5V. A 5V supply would do fine. The data from the Data Out pin is
a serial digital data. DHT11 Sensor can measure a humidity value in the range of 20 – 90% of
Relative Humidity (RH) and a temperature in the range of 0 – 500C.
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3.6 ARDUINO UNO/NANO
Overview
The Arduino NANO is a microcontroller board based on the ATmega328 (datasheet). It has 14 digital
input/output pins (of which 6 can be used as PWM outputs), 6 analog inputs, a 16 MHz ceramic
resonator, a USB connection, a power jack, an ICSP header, and a reset button. It contains everything
needed to support the microcontroller; simply connect it to a computer with a USB cable or power it
with a AC-to-DC adapter or battery to get started.
The NANO differs from all preceding boards in that it does not use the FTDI USB-to-serial driver
chip. Instead, it features the Atmega16U2 (Atmega8U2 up to version R2) programmed as a USB-to-
serial converter. Revision 2 of the Uno board has a resistor pulling the 8U2 HWB line to ground, making
it easier to put into DFU mode. Revision 3 of the board has the following new features:
pinout: added SDA and SCL pins that are near to the AREF pin and two other new pins placed near
to the RESET pin, the IOREF that allow the shields to adapt to the voltage provided from the board.
In future, shields will be compatible both with the board that use the AVR, which operate with 5V
and with the Arduino Due that operate with 3.3V. The second one is a not connected pin, that is
reserved for future purposes.
Fig.15 Arduino UNO
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Features of arduino uno
Microcontroller ATmega328
Operating Voltage 5V
Input Voltage (recommended) 7-12V
Input Voltage (limits) 6-20V
Digital I/O Pins 14 (of which 6 provide PWM output)
Analog Input Pins 6
DC Current per I/O Pin 40 mA
DC Current for 3.3V Pin 50 mA
Flash Memory 32 KB of which 0.5 KB used bybbootloader
SRAM 2 KB
EEPROM 1 KB
Clock Speed 16 MHz
Power
The Arduino Uno can be powered via the USB connection or with an external power supply. The power
source is selected automatically.
External (non-USB) power can come either from an AC-to-DC adapter (wall-wart) or battery. The
adapter can be connected by plugging a 2.1mm center-positive plug into the board's power jack.
Leads from a battery can be inserted in the Gnd and Vin pin headers of the POWER connector.
The board can operate on an external dc supply of 5v to 20 volts. If supplied with less than 7V,
however, the 5V pin may supply less than five volts and the board may be unstable. If using more
than 12V, the voltage regulator may overheat and damage the board. The recommended range is 7
to 12 volts.
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The power pins are as follows:
VIN. The input voltage to the Arduino board when it's using an external power source (as opposed to
5 volts from the USB connection or other regulated power source). You can supply voltage through
this pin, or, if supplying voltage via the power jack, access it through this pin.
5V.This pin outputs a regulated 5V from the regulator on the board. The board can be supplied with
power either from the DC power jack (7 - 12V), the USB connector (5V), or the VIN pin of the board
(7-12V). Supplying voltage via the 5V or 3.3V pins bypasses the regulator, and can damage your
board. We don't advise it.
3V3. A 3.3 volt supply generated by the on-board regulator. Maximum current draw is 50 mA.
GND. Ground pins.
Memory
The ATmega328 has 32 KB (with 0.5 KB used for the bootloader). It also has 2 KB of SRAM and 1
KB of EEPROM (which can be read and written with the EEPROM library).
Input and Output
Each of the 14 digital pins on the Uno can be used as an input or output, using pinMode(),
digitalWrite(), and digitalRead() functions. They operate at 5 volts. Each pin can provide or receive a
maximum of 40 mA and has an internal pull-up resistor (disconnected by default) of 20-50 kOhms.
In addition, some pins have specialized functions:
Serial: 0 (RX) and 1 (TX). Used to receive (RX) and transmit (TX) TTL serial data. These pins are
connected to the corresponding pins of the ATmega8U2 USB-to-TTL Serial chip.
External Interrupts: 2 and 3. These pins can be configured to trigger an interrupt on a low value, a
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rising or falling edge, or a change in value. See the attachInterrupt() function for details.
PWM: 3, 5, 6, 9, 10, and 11. Provide 8-bit PWM output with the analog Write function.
SPI: 10 (SS), 11 (MOSI), 12 (MISO), 13 (SCK). These pins support SPI communication using the
SPI library.
LED: 13. There is a built-in LED connected to digital pin 13. When the pin is HIGH value, the LED is on,
when the pin is LOW, it's off.
The Uno has 6 analog inputs, labeled A0 through A5, each of which provide 10 bits of resolution (i.e.
1024 different values). By default they measure from ground to 5 volts, though is it possible to
change the upper end of their range using the AREF pin and the analog Reference function.
Additionally, some pins have specialized functionality:
TWI: A4 or SDA pin and A5 or SCL pin. Support TWI communication using the Wire library.
There are a couple of other pins on the board:
AREF. Reference voltage for the analog inputs. Used with analog Reference.
Reset. Bring this line LOW to reset the microcontroller. Typically used to add a reset button to
shields which block the one on the board.
Communication
The Arduino Uno has a number of facilities for communicating with a computer, another Arduino, or
other microcontrollers. The ATmega328 provides UART TTL (5V) serial communication, which is
available on digital pins 0 (RX) and 1 (TX). An ATmega16U2 on the board channels this serial
communication over USB and appears as a virtual com port to software on the computer. The RX and
TX LEDs on the board will flash when data is being transmitted via the USB-to-serial chip and USB
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connection to the computer (but not for serial communication on pins 0 and 1).
A Software Serial library allows for serial communication on any of the Uno's digital pins. The
ATmega328 also supports I2C (TWI) and SPI communication. The Arduino software includes a Wire
library to simplify use of the I2C bus; see the documentation for details. For SPI communication, use
the SPI library.
Programming
The Arduino Uno can be programmed with the Arduino software. The ATmega328 on the Arduino Uno
comes preburned with a bootloader that allows you to upload new code to it without the use of an
external hardware programmer. It communicates using the original STK500 protocol (reference, C
header files).
Automatic (Software) Reset
Rather than requiring a physical press of the reset button before an upload, the Arduino Uno is
designed in a way that allows it to be reset by software running on a connected computer. One of
the hardware flow control lines (DTR) of the ATmega8U2/16U2 is connected to the reset line of the
ATmega328 via a 100 nanofarad capacitor. When this line is asserted (taken low), the reset line
drops long enough to reset the chip. The Arduino software uses this capability to allow you to upload
code by simply pressing the upload button in the Arduino environment. This means that the
bootloader can have a shorter timeout, as the lowering of DTR can be well-coordinated with the start
of the upload.
This setup has other implications. When the Uno is connected to either a computer running Mac OS X
or Linux, it resets each time a connection is made to it from software (via USB). For the following half
-second or so, the bootloader is running on the Uno. While it is programmed to ignore malformed data
(i.e. anything besides an upload of new code), it will intercept the first few bytes of data sent to the
board after a connection is opened. If a sketch running on the board receives one-time configuration
or other data when it first starts, make sure that the software with which it communicates waits a
second after opening the connection and before sending this data.
The Uno contains a trace that can be cut to disable the auto-reset. The pads on either side of the
trace can be soldered together to re-enable it. It's labeled "RESET-EN". You may also be able to
disable the auto-reset by connecting a 110 ohm resistor from 5V to the reset line; see this forum
thread for details.
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3.7 WIRELESS CAMERA
Fig.16 wireless camera
Wireless cameras have a channel also. The receiver has channels to tune in and then you get the
picture. The wireless camera picture is sent by the transmitter the receiver collects this signal and
outputs it to your TV or in a desktop by a TV tuner card. Camera is fixed at the one end of the
frame and the robot is meant for inspection inside a pipe which could be monitored in a desktop.
Camera transmits signal to the receiver which receives the signal and is connected to the monitor to
view the inner side of the pipe.
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3.8 ROBOT ARM CONTROL
In order to move the robot arm properly, software with the selected Arduino microcontroller has
been implemented and then the experiment with the Bluetooth module and servo motors has been
done to learn about the system operation. The software has been implemented with the
appropriate Arduino microcontroller selected so that the robot arm can be moved appropriately for
the intended purpose. Control of the robot arm is achieved by moving the axes of the android
application in the '-' and '+' directions.
Fig.17 Robot arm
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3.9 OXYGEN PUMP
Air pumps work by displacing the water. Air pulled through the pump creates bubbles when
released into the water. Bubbles displace the water, stirring it and sending the carbon dioxide to the
surface. External pumps move the air via a hose attached to the pump that is dropped into the
water.
In this project it is mainly used to supply the oxygen to child inside the bore hole so that sufficient
oxygen can be provided to save the life of a child.
Fig.18 oxygen pump
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DATASHEET
TEMPERATURE AND HUMIDITY SENSOR
Temperature and humidity sensor
1. Feature & Application:

* Full range temperature compensated* Relative humidity and temperature measurement
* Calibrated digital signal *Outstanding long-term stability *Extra components not needed
* Long transmission distance* Low power consumption*4pins packaged and fully
Interchangeable.
ELECTRICAL CHARACTERSTICS
Item Condition Min Typical Max Unit

Power DC 3 5 5.5 Volts
supply
Current Measuring 0.5 2.5 mA
Page 29
supply
Stand-by 100 Null 150 uA
Average 0.2 Null 1 mA
TECHNICAL SPECIFICATIONS
Mode DHT11
Power supply 3-5.5V DC
Output signal digital signal via single-bus
Sensing element Polymer resistor
Measuring range humidity 20-90%RH;
temperature 0-50 Celsius
Accuracy humidity +-4%RH (Max +-5%RH);

temperature +-2.0Celsius
Resolution or humidity 1%RH; temperature 0.1Celsius

sensitivity
Repeatability 1%RH; temperature +-1Celsius

Humidity hysteresis +-1%RH
Long-term Stability Long-term Stability

Sensing period Average:2s
Inter changeability fully interchangeable
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Dimensions size 12*15.5*5.5mm
BLUETOOTH
Specifications
Hardware features
Typical -80dBm sensitivity

Up to +4dBm RF transmit power
Low Power 1.8V Operation ,1.8 to 3.6V I/O
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PIO control
UART interface with programmable baud rate
With integrated antenna
With edge connector
Software features
1. Slave default Baud rate: 9600,
2. Data bits:8,
3. Stop bit:1,Parity: No parity.
4. PIO9 and PIO8 can be connected to red and blue led separately. When master and
slave are paired, red and blue led blinks 1time/2s in interval, while disconnected only blue
led blinks 2times/s
5. Auto‐connect to the last device on power as default.
6. Permit pairing device to connect as default.
7. Auto‐pairing PINCODE:”1234” as default.
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Chapter 4
4.1 ADVANTAGES
Low cost as compared to the army rescue methods.
Less human resource requirement required.
Least time consumption.
External oxygen can be provided.
Safe operation.
4.2 DISADVANTAGES
Requires skilled persons to control and operate.
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4.3 APPLICATIONS
Today’s mobile robots are used for inspection, surveillance, monitoring and non-destructive
tasks. Some of the current applications are as below:
Allow inspection of inaccessible and / or hazardous equipment or work areas
Helps human from potentially hazardous work situations.
Provide information about the health and condition of critical plant components to facilitate
decision
Reduce equipment / plant downtime and improve maintenance and inspection procedure
thorough better coverage and documentation.
The robot has great application in accessing the regions of pipe where human cannot reach. It
can be mounted with a camera which sends pictures of inside and help in inspection.
It can be fitted with ultrasonic sensors and can pin point the location of a hole.
It is of course vital to continually reduce the risks brought about by the manufacture,
transport and storage of chemicals. This means that the possible dangers need to be
examined and the necessary testing and inspections carried out in order to avoid or at least
lessen and contain them. The use of our robots has become obligatory in many well known
companies.
Leakages in long distance heat conduits, caused through external corrosion, cause energy and
water losses resulting in damage to, among others, subterranean constructions. Minimizing
energy loss during the transport of heat from source to end user is one of the most
important requirements in order to exclude danger to people and the environment. This robot
help in this important duty.
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4.4 CONCLUSION
By realising this project we can conclude that the child can be lifted up without any harm full
damage to the trapped child and oxygen can be supplied inside the borehole, so that the life of the
child can be saved. Also the pipe inspection can be done so that if any problems can find inside the
borehole.
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4.5 REFERENCES
[1]. Atul Gargade, Dhanraj Tambuskar, Gajanan Thokal - “Modeling and Analysis of Pipe Inspection
Robot”, IJETAE Volume 3, Issue 5,
May 2013.
[2]. Dana Al-Matter - “Pipe Leakage Repairing Robot”, Kuwait-MIT Center for Natural Resources and
the Environment August 28, 2013.
[3]. E Navin Prasad, M Kannan, Azarudeen and N Karuppasamy - “Defect Identification in pipe lines
using pipe inspection robot”, IJMERR, Vol. 1, No. 2, July2012.
[4]. Kentararou, nishijima, Yixiang sun –“Advanced pipe inspection robot using rotating probe,” The
Fifteenth International Symposium on Artificial Life and Robotics 2012.
[5]. O. Tătar, D. Mândru, I. Ardelean - “Development of mobile mini robots for in pipe inspection
tasks”, ISSN 1392 - 1207.
MECHANIKA. 2007.
[6]. Paul E Sandin :- Robot Mechanisms and Mechanical Devices, 1st Edition. (2003).
Page 36

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ARDUINO BASED BOREWELL RESCUE ROBOT

1.2 Existing system

2.1 Proposed system

2.1.1 Block diagram

2.1.2 Circuit diagram

2.1 .3 Expected results

3.2 Bluetooth device

3.3 Motor driver IC

3.4.2 Servo motors

3.5 Temperature and humidity sensor

3.6 Arduino UNO

3.7 Wireless camera

3.8 Oxygen pump

3.9 Robot Arm

Dept of electrical and electronic engg

4.1 Data sheet

Dept of electrical and electronic engg

Dept of electrical and electronic engg

1.2 EXISTING SYSTEM

Dept of electrical and electronic engg

Fig.1 Existing system

2.1 PROPOSED SYSTEM

Dept of electrical and electronic engg

Fig.2 Proposed system

Dept of electrical and electronic engg

2.1.1 BLOCK DIAGRAM

Oxygen Pump Oxygen Pump

Fig.3 Block diagram

Dept of electrical and electronic engg

2.1.2 CIRCUIT DIAGRAM

Fig.4 Circuit diagram

Dept of electrical and electronic engg

2.1.3 EXPECTED RESULTS

Fig.5 Expected result

Dept of electrical and electronic engg

Fig.6 Expected result

Dept of electrical and electronic engg

Dept of electrical and electronic engg

3.2 BLUETOOTH DEVICE

Dept of electrical and electronic engg

HC-05 module has two modes,

1. Data mode: Exchange of data between devices.

2. VCC: Connect 5 V or 3.3 V to this Pin.

3. GND: Ground Pin of module.

6. State: It tells whether module is connected or not.

Dept of electrical and electronic engg

The following are some of the features of Bluetooth device used:

1. Serial port Bluetooth Drop-in replacement for wired serial connections.

Dept of electrical and electronic engg

3.3 L293D IC (DC MOTOR DRIVER)

Fig.9 motor driver IC

Dept of electrical and electronic engg

Fig 10. L293D IC

Dept of electrical and electronic engg

Fig.11 PMDC motor

Characteristics of PMDC motors are similar to the characteristics of dc shunt motor in terms of torque,

Fig.12 Characteristics of dc motor

3.4.2 SERVO MOTOR

Types of servo motors

Dept of electrical and electronic engg

reliability of control by microprocessors.

Fig.13 Dc servo motor

Dimensions size 1215.55.5mm