PROJECT REPORT

“Bore-well Rescue using Robotic Arm ”

Seventh Semester Project Report
Submitted to EURO TECH MARITIME ACADEMY
KOCHI- 683562
In partial fulfillment of the requirements for the award of
BACHELOR OF TECHNOLOGY
In
MARINE ENGINEERING
For the Academic Year 2019
Submitted By:
STEVE D’SOUZA – 5369 (Group leader)
MOHIT KHATTA -5345
PIYUSH KUMAR-5354
PREM RANJAN- 5355
RAGESH ATRAY – 5356

Under the guidance of

C/E VENKATESHAN NATARAJAN
HEAD OF THE DEPARTMENT
Dept. of Marine Engg.
Kochi- 683562
 CERTIFICATE

This is to certify that the Mini Project work entitled “Bore-well Rescue
using Robotic Arm " was carried out by STEVE D’SOUZA – 5369,
MOHIT KHATTA -5345, PIYUSH KUMAR-5354, PREM RANJAN-
5355, RAGESH ATRAY – 5356 the bonafide students of
Euro Tech Maritime Academy, Kochi, in partial fulfillment for the award of
Bachelor of Technology in Marine Engineering, of the
Indian Maritime University, Chennai. It is certified that all
Corrections/suggestions indicated for Internal Assessment have been
Incorporated in the report. The Project Report has been approved as it
Satisfies the academic requirements in respect of Project work.

HOD: PRINCIPAL:
C/E Venkateshan Natarjan Capt.Vinod Naveen
Dept. of M.E. EMA
EMA

EXTERNAL EXAMINER:
 ACKNOWLEDGEMENT
This project would not have been possible without the help and guidance of various
people.

We express our deepest gratitude to C/E VENKATESHAN NATARAJAN,

Head of the Department (Marine Engineering) for his guidance and suggestions at all
walks of our work. His support has played a vital role in carrying out the project.

We are very thankful to Ms. Priyanka Ragunathan, Faculty, Department of

Electronics for her help and guidance in developing the circuitry and coding of the
project.

We are also grateful to Mr. Sajith K.S, Faculty, Department of Environmental

Science for his inputs during project work which is invaluable.
TABLE OF CONTENTS

1. INTRODUCTION
2. WORKING
3. HARDWARE AND SOFTWARE DETAILS
4. IMPLEMENTATION DETAILS
5. RESULTS & CONCLUSION
 Bore-well Rescue using Robotic Arm
Aim : This project is aimed at rescuing children/animals fallen into
abandoned bore-wells which are left uncovered. The design involves robotic
arms and safety air-bags in order to lift the Child/Animal safely out of the
bore-well.

Abstract:

Bore well accidents are common due to uncovered openings of bore well. It is very
difficult and risky to rescue the trapped children. A small delay in the rescue can cost the
child his or her life. Lifting the child out of the narrow hole of the bore well is not easy.
The child who has suffered the trauma of the fall is confined to a small area where with
the passage of time, the supply of oxygen reduces. The main objective of this project is to
design and construct a portable robot which is cost effective, quick in action and accurate.
This robot is also capable of performing lifesaving action like supplying oxygen. The
Bore well Rescue Robot is capable of moving inside the well and performs operations
according to the user commands. The proposed model is designed to provide the child
with two level of safety achieved by using robotic arms at the top and safety airbag at the
bottom. This arrangement ensures that the child does not slip further deep during the
rescue operation. The robot is operated through personal computer according to the
observations made continuously using Web camera. Arduino is used for programming the
controller.

KEYWORDS: Robotic arms, metallic plates, Web camera

1. Background Theory
Children fall in the Bore well due to the carelessness nature of the people in society. Due
to this many children are becoming the victims. The currently available systems are less
effective and costly too. Thus the society is in need of a new technique which is more
efficient and effective. In most cases reported so far, a parallel hole is dug and then
horizontal path is made to reach the child. It is not only a time taking process, but also
risky in various ways. The borewell rescue robot is capable of moving inside the same
borewell where the child has been trapped and performs various actions to save the child.
Camera is used to continuously monitor the child’s condition and also help to decide the
actions which have to be performed by the robot. This robot has a high power LED which
acts as a light source since light intensity inside the hole will be less. The advancement in
the field of automation along with the mechanical design has a great impact on the
society. This project includes series of process development from hand drawn sketches to
computer generated design. The modern equipment’s are implemented for various parts
of the robot, since the robot performs a life rescuing activity. The light weight
servomotors are implemented for the robot’s operations. A safety airbag is introduced in
order to prevent the further falling down of child during rescue operation. A wide range
Web camera is placed to find the child’s position. An additional robotic arm system is
included for the perfect positioning. Borewell rescue Robot is a human controlled
computerized Robotic system embedded with additional safety devices.

The following is a list of Bore Well Mishaps occurred in the recent years in different
states of the country. Most of the rescue operations did not give fruitful results.

S.No Name of Child Age Place of Incident Status

Recovered, Died in
1 R Madhumitha 3 Villupuram Dist, Tamil Nadu
Hospital
2 Radheshyam 2.5 Churu Dist, Jaipur Died in Hospital
3 Chotu 9 Karauli Dist, Rajasthan Deceased
4 Tanu 4 Palwal, Haryana Alive
Suryapalli Village,
5 Muthulakshmi 7 Died in Hospital
Tamilnadu
Karim Nagar, Andhra
6 Ajith 5 Deceased
Pradesh
7 Mahi 5 Gurgaon Deceased
8 Ankit 4 Raimalpura Village, Kochi Deceased
Mahbubnagar,
9 Tirumalesh 1 Deceased
Andhrapradesh
10 .Asmita 1 Rajkot, Gujarat Deceased
Om Santosh
11 1.5 Nashik, Maharashtra Deceased
Devre
12 Sujith Wilson 2 Tirchi, Tamil Nadu Deceased

Existing system:

Currently employed rescue system is digging a hole parallel to the bore-well and then
making a horizontal path to reach the child.
This takes a very long time and the nature of the soil must support digging a new parallel
well.

2. Objectives
The main objective of the project is to rescue the children who have fallen inside the Borewell
with the help of robotic arms and safety airbag with minimal time. CCTV camera plays a very
important role of continuous monitoring of the child’s position. The myDAQ which is the
controlling device located at the ground level controls all the actions of the robot. The Borewell
Rescue Robot can replace the currently available techniques.
The objectives of this project include
1. Manually monitoring the child with the help of camera and controlling unit of robot.
2. Communicating with the robot by sending appropriate commands to it and activate the suitable
Motors.
3. Length of the rope can be determined roughly with the help of IR sensors. Once the robot has
Reached proximity of child, it is stopped immediately and is given the commands by the
Controlling device to perform the closing of the robotic arms.
4. Oxygen supply is activated immediately to overcome its scarcity and entire arrangement is
pulled up.

High level safety:

It is very important to have a system which can ensure a maximum level of safety of the
trapped child. While pulling the child up, care has to be taken so that no rupture is caused
to the child.

Fast rescue and performing life saving action:

The Rescue Robot provides the child with appropriate oxygen supply. The robotic arms
hold the child from the top and the airbags provide support from the bottom. Hence, the
chances of child slipping further down are avoided. The project also ensures that the
rescue operation is carried out with minimal time.

Cost effective:
The proposed method is economical and requires less cost to rescue the child when
compared to the existing systems. (Digging up of land and use of unnecessary man power
is eliminated).
 WORKING

The arm works on the principal of serial communication. The arm communicates via
Bluetooth (HC-05 module).Once connected the data is sent over with the help of Phone
Bluetooth. After receiving the data the microcontroller processes the Data and then
moves the arm. This Anthropomorphic Robotic Arm project presents an anthropomorphic
robot hand, which has a thumb and four Fingers, all the joints of which are driven by
servomotors built into the fingers and the palm. The thumb has four joints with four-
degrees-of-freedom (DOF), the other fingers have four joints with3-DOF, and two axes
of the joints near the palm cross orthogonally at one point, as is the case in the human
hand. The main aim of this project is to control the robot using Bluetooth.

Steps in rescue process

Step-1
Fix the position of stand and pulley arrangement.
Step-2
Tie the robot to a rope and send inside the bore-well with continuous monitoring.
Step-3
Trace out a gap between the child and wall of the bore-well.
Step-4
Insert the rod into the traced gap.
Step-5
Safety air bag is blown using air compressor.
Step-6
Hold the child with robotic arms and slowly pull up the entire arrangement.
 HARDWARE DETAILS

Arduino Nano

Power
The Arduino Nano can be powered via the Mini-B USB connection, 620V unregulated
external power supply (pin 30), or 5V regulated external power supply (pin 27). The
power source is automatically selected to the highest voltage source.
Memory
The ATmega328 has 32 KB, (also with 2 KB used for the boot loader. The ATmega328
has 2 KB of SRAM and 1 KB of EEPROM.
Input and Output
Each of the 14 digital pins on the Nano 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 FTDI USB-to-TTL Serial chip.
External Interrupts: 2 and 3. These pins can be configured to trigger an interrupt on a low
value, a 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 analogWrite() function.
HC-05 Bluetooth module

HC 05 module is an easy to use Bluetooth SPP (Serial Port Protocol) module, designed
for transparent wireless serial connection setup. The HC-05 Bluetooth Module can be
used in a Master or Slave configuration, making it a great solution for wireless
communication. This serial port Bluetooth module is fully qualified Bluetooth
V2.0+EDR (Enhanced Data Rate) 3Mbps Modulation with complete 2.4GHz radio
transceiver and baseband. It uses CSR Blue core 04 External single chip Bluetooth
system with CMOS technology and with AFH (Adaptive Frequency Hopping Feature).

The Bluetooth module HC-05 is a MASTER/SLAVE module.By default the factory

setting is SLAVE. The Role of the module (Master or Slave) can be configured only by
AT COMMANDS. The slave modules cannot initiate a connection to another Bluetooth
device, but can accept connections. Master module can initiate a connection to other
devices. The user can use it simply for a serial port replacement to establish connection
between MCU and GPS, PC to your embedded project, etc. Hardware Features
Typical 80dBm sensitivity.
Up to +4dBm RF transmit power.
3.3 to 5 V I/O.
PIO(Programmable Input/Output) control.
UART interface with programmable baud rate.
With integrated antenna. With edge connector. Software Features
Slave default Baud rate: 9600, Data bits: 8, Stop bit: 1, Parity: No parity.
Auto connect to the last device on power as default. Permit pairing device to connect as
default. Auto pairing PINCODE:”1234” as default.
H-Bridge L293D Motor Control IC

A H-bridge is fabricated with four switches like S1, S2, S3 and S4. When the S1 and S4
switches are closed, then a +ve voltage will be applied across the motor. By opening the
switches S1 and S4 and closing the switches S2 and S3, this voltage is inverted, allowing
invert operation of the motor.
Generally, the H-bridge motor driver circuit is used to reverse the direction of the motor
and also to break the motor. When the motor comes to a sudden stop, as the terminals of
the motor are shorted. Or let the motor run free to a stop, when the motor is detached
from the circuit. The table below gives the different operations with the four switches
corresponding to the above circuit.

L293D Motor Driver IC

L293D IC is a typical Motor Driver IC which allows the DC motor to drive on any
direction. This IC consists of 16-pins which are used to control a set of two DC motors
instantaneously in any direction. It means, by using a L293D IC we can control two DC
motors. As well, this IC can drive small and quiet big motors.
This L293D IC works on the basic principle of H-bridge, this motor control circuit allows
the voltage to be flowing in any direction. As we know that the voltage must be change
the direction of being able to rotate the DC motor in both the directions. Hence, H-bridge
circuit using L293D ICs are perfect for driving a motor. Single L293D IC consists of two
H-bridge circuits inside which can rotate two DC motors separately. Generally, these
circuits are used in robotics due to its size for controlling DC motors.
Camera

At its core, a GoPro is a small camera the takes the best qualities of point-and-shoots and
camcorders and packs them into a rugged frame that's smaller, waterproof, and virtually
indestructible.

Robotic Arm

A robotic arm is a type of mechanical arm, usually programmable, with similar functions to a
human arm; the arm may be the sum total of the mechanism or may be part of a more
complex robot. The links of such a manipulator are connected by joints allowing either
rotational motion (such as in an articulated robot) or translational (linear) displacement. This
is used to grab the child and hoist it upwards.

Jumping Wires

Used to connect all the components in the arduino circuit.

Pvc Pipe

The bore well has to be 4 inches in diameter for Commercial Applications, 6 – 8 inch for
Agricultural Applications and 8 – 12 inch for Industrial and Heavy Industrial
Applications. We have used PVC pipe for representational purpose only.
Circuit diagram
 IMPLEMENTATION DETAILS
Block Diagram
 SOFTWARE DETAILS

Arduino IDE 1.8.9

The Arduino integrated development environment (IDE) is a cross-platform application
(for Windows, macOS, Linux) that is written in the programming language Java. It is
used to write and upload programs to Arduino compatible boards, but
also, with the help of 3rd party cores, other vendor development boards.
The source code for the IDE is released under the GNU General Public License, version
2. The Arduino IDE supports the languages C and C++ using special rules of code
structuring. The Arduino IDE supplies a software library from the Wiring project, which
provides many common input and output procedures. User-written code only requires
two basic functions, for starting the sketch and the main program loop, that are compiled
and linked with a program stub main() into an executable cyclic executive program with
the GNU toolchain, also included with the IDE distribution. The Arduino IDE employs
the program avrdude to convert the executable code into a text file in hexadecimal
encoding that is loaded into the Arduino board by a loader program in the board's
firmware.

CODE
const int m1p1 = 2; //using pin 2 for motor 1 pin 1
const int m1p2 = 3; //using pin 3 for motor 1 pin 2
const int m2p1 = 4; //using pin 4 for motor 2 pin 1
const int m2p2 = 5; //using pin 5 for motor 2 pin 2
const int m3p1 = 6; //using pin 6 for motor 3 pin 1
const int m3p2 = 7; //using pin 7 for motor 3 pin 2
const int m4p1 = 8; //using pin 8 for motor 4 pin 1
const int m4p2 = 9; //using pin 9 for motor 4 pin 2
String Data; //variable used to store the data recieved from the bluetooth
void stop_motion() {//function to stop all the motion by reseting all the pins to LOW
digitalWrite(m1p1, LOW);
digitalWrite(m1p2, LOW);//reseting the pin to LOW
digitalWrite(m2p1, LOW);
digitalWrite(m2p2, LOW);
digitalWrite(m3p1, LOW);
digitalWrite(m3p2, LOW);
digitalWrite(m4p1, LOW);
digitalWrite(m4p2, LOW);
}
void setup() {// this function runs when the project is started. this function runs only once

Serial.begin(9600); //begining the serial communication, with a baud rate of 9600

 for (int a = 2; a <= 9; a++) {//for loop to assign all the pins as output pins
pinMode(a, OUTPUT);
}
pinMode(13, OUTPUT);// pin used to indicate if the data is recieved from the bluetooth
}

void loop() {
// put your main code here, to run repeatedly:
if (Serial.available() > 0) {//checking if the data is recieved from the bluetooth
Data = Serial.readString();//assigning the recieved data to the variable data
Serial.println(Data); //printing the data on the serial monitor if the arduino is
connected to the computer
if (Data == "m1p1") { //checking if the data is m1p1
//rotating the base motor which rotates the robot for a second
digitalWrite(13, HIGH);
digitalWrite(m1p1, HIGH);
delay(1000);
//stoping the motion by calling the stop_motion function
stop_motion();
digitalWrite(13, LOW);
}
else if (Data == "m1p2") {
digitalWrite(13, HIGH);
Serial.print("b");
digitalWrite(m1p2, HIGH);
delay(1000);
stop_motion();
digitalWrite(13, LOW);
}
else if (Data == "m2p1") {
digitalWrite(13, HIGH);
digitalWrite(m2p1, HIGH);
delay(1000);
stop_motion();
digitalWrite(13, LOW);
}
else if (Data == "m2p2") {
digitalWrite(13, HIGH);
digitalWrite(m2p2, HIGH);
delay(1000);
stop_motion();
digitalWrite(13, LOW);
}
else if (Data == "m3p1") {
digitalWrite(13, HIGH);
digitalWrite(m3p1, HIGH);
 delay(1000);
stop_motion();
digitalWrite(13, LOW);
}
else if (Data == "m3p2") {
digitalWrite(13, HIGH);
digitalWrite(m3p2, HIGH);
delay(1000);
stop_motion();
digitalWrite(13, LOW);
}
else if (Data == "m4p1") {
digitalWrite(13, HIGH);
digitalWrite(m4p1, HIGH);
delay(1000);
stop_motion();
digitalWrite(13, LOW);
}
else if (Data == "m4p2") {
digitalWrite(13, HIGH);
digitalWrite(m4p2, HIGH);
delay(1000);
stop_motion();
digitalWrite(13, LOW);
}
}//end of the if statement.
}//end of the loop function

RESULTS & DISCUSSION

The Bore Well Rescue System designed and fabricated thus helps in reducing the rescue
operation time very effectively compared to any other technique being followed
nowadays.

It is also observed that the system developed is functional and plays a vital role in
saving the child trapped inside a bore well without any harm. The approach thus followed
is relatively better than that being adopted. Minute to minute monitoring about the child
and about the status of the rescue operation is also possible. The prototype system is
designed and fabricated to rescue children weighing between 8Kg and 15 Kg. Following
the general guidelines of the Permission Issuing Authority, the bore well has to be 4
inches in diameter for Commercial Applications, 6 – 8 inch for Agricultural Applications
and 8 – 12 inch for Industrial and Heavy Industrial Applications. The system is designed
in such a way that it is applicable to bore wells of any diameter.
Cost

A total amount of Rs- 10000/- (Ten thousand rupees) was spent for the making of this project.
The components were bought from ‘Matha Electronics’ (MG Road) and E-Commerce platforms
like Fliopkart, Amazon, Club Factory.

Conclusion

By adapting this system, the life of the child can be saved with minimal time. This system
also performs life saving action in addition to rescuing. The main highlight of this project
is the inclusion of safety airbag avoiding further falling down of baby during the rescue
operation.

Once the child is found, the robot is fixed at the desired position and further rotational or
longitudinal movement of the robot will not be allowed. The operation time is minimal
and the oxygen concentrator will help in supplying required oxygen to the baby.

It can save lives of many innocent children. So, it is very beneficial to use this robot.
Robotic framework for rescue robotics in bore-well environment has been proposed here.
Deeply observing those incidents and looking at the current circumstances we feel that
We need to develop such framework for saving those innocent lives. In addition there is a
whole new research area waiting ahead us which deals with lots of challenges relating to
Mapping in unknown environment, real-time teleoperation in low lighting conditions,
arm manipulation system. Rather than the technical development we would be highly
satisfied if it can fulfill the most important aspect of the project, which is to save a life.