Design and Creation of
Earthquake Rescue Car
Based on Raspberry Pi
Qikang Yan
2020-9-14
Word count: 3960
Content
Abstract.........................................................................................................................................................2
Introduction ................................................................................................................................................2
Literature Review ......................................................................................................................................3
Video Transmission ........................................................................................................................................ 3
Ultrasonic Sensor ............................................................................................................................................ 3
Aluminum Alloy ............................................................................................................................................... 4
Explanation of Working Principles ............................................................................................................ 4
Working Principle of Video Transmission .......................................................................................... 5
Working Principle of Ultrasonic Sensor .............................................................................................. 6
Process & Result ................................................................................................................................................7
Plan and Design .............................................................................................................................................. 7
Programming ................................................................................................................................................... 9
Installation of Motors ................................................................................................................................. 13
Modification and Assembling .................................................................................................................. 14
Result ............................................................................................................................................................... 14
Tests & Data Analysis ................................................................................................................................... 15
Video Transmission Test ............................................................................................................................ 15
Ultrasonic Distance Measurement Test ................................................................................................ 15
Maneuverability test.................................................................................................................................... 16
Discussion .......................................................................................................................................................... 16
Conclusion ......................................................................................................................................................... 17
Bibliography ..................................................................................................................................................... 18
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Abstract
While the damage brought by earthquake can be immense, the earthquake relief work
is getting increasingly significant. This paper comprehensively demonstrates the
process in which an earthquake rescue car is built. This car is created based on
Raspberry Pi and is able to implement functions such as video transmission, ultrasonic
distance measurement. The primary aim of this project is to help rescuers locate trapped
people when an earthquake take place so that the rescue efficiency can be improved to
a great extent.
Key word: earthquake, disaster relief, rescue vehicle, Raspberry Pi
Introduction
Earthquakes are one of the most damaging natural disasters, this has long been a
problem that plagues countries and people around the world. It refers to the shaking of
the Earth's surface caused by the collisions between Earth's tectonic plates that produce
seismic waves. Major earthquakes on the planet occur mainly in regions that coincide
with the edges of tectonic plates (Bolt, 2022), areas such as the Pacific Rim Seismic
Zone are prime examples. Earthquakes usually cause untold property damage and
sometimes casualties.
Fig 1.1 Road damaged by earthquake (CEA, 2020)
Fig 1.2 2021 Haiti earthquake (Kachelman, 2021)
Apart from the original intensity of the earthquake and initial damage, much of the
damage caused can be determined by the post-earthquake relief efforts. In an
earthquake emergency, rescue teams are faced with a post-earthquake disaster
environment that is riddled with damaged and collapsed buildings. They could also
encounter aftershocks, landslides, impassable roads, fires, mudslides, debris flows,
chemical contamination, and radiation contamination. All those potential hazards make
earthquake rescue extremely dangerous work.
Examples of earthquakes which have occurred in recent years are the Wenchuan
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earthquake (2008), during this, a Chengdu military rescue helicopter crashed near
Yingxiu town in Wenchuan County with 5 crew members, 13 people and other
personnel on board (see fig 1.3). All those people were killed and the annihilated aircraft
was found in the deep canyon forest two days later. During the rescue mission, around
200 relief workers were reportedly killed in mudslides in the affected areas where rivers
and lakes were obstructed by rocks, mud and earthquake debris, making flooding a
major threat.
Fig 1.3 Wreckage of crashed aircraft in rescue (Xinhua Net, 2008)
Fig 1.4 An example of landslide-dammed lake (Hancox, 2005)
Therefore, this project aims to design and build a robot car using raspberry pi. The car
is designed to be able to enter the environment that people cannot enter so as to help
relief workers locate trapped people faster. Not only can it take risks for rescuers, but it
can also enhance the rescue efficiency.
Literature Review
1. Video Transmission
In order to realize the function of video transmission in an earthquake relief, techniques
related real time video streaming, instead of video on demand (VOD), should be used.
Live streaming means sending streaming video over the Internet in real time, without
recording and storing it first, various transmission protocols can be used for this process.
While it is suggested that the Transmission Control Protocol (TCP) is typically the more
reliable protocol compared to other protocols (Alexander, 2010), another study
indicated that the User Datagram Protocol (UDP) might be a better choice due to its
fast transmission time (Robert, 2014). Thus, UDP is used when speed takes precedence
over reliability, while TCP is used when reliability takes precedence. Many consumer
streaming services use TCP, for example, while UDP is well suited for video
conferencing.
2. Ultrasonic Sensor
As with any technology, ultrasonic sensors are best utilized in certain situations or
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applications over others. A few of their strengths include the following (Jibin, 2021):
(i)
(ii)
(iii)
Ultrasonic sensors are unaffected by the color of the objects being detected,
including translucent or transparent objects such as water or glass.
Their minimum and maximum ranges are quite flexible, with most ultrasonic
sensors capable of detecting as near as a few centimeters up to approximately
five meters. Specifically configured modules can even measure up to nearly 20
meters.
Ultrasonic sensors provide relatively precise measurements, within 1%
typically and even more precision if desired.
However, limitations also exist in the application of ultrasonic sensor. A similar study
(Wondrak, 2019) argued that as the speed of sound is dependent on temperature and
humidity, environmental conditions may change the precision of the measurements.
Moreover, in some cases, the target object is too small to reflect sufficient ultrasonic
signal for detection and therefore the distance cannot be measured correctly. In addition,
certain objects, such as fabrics and carpets, can absorb acoustic signals so that they
cannot be reflected back to the sensor and therefore distance cannot be measured.
Furthermore, the high sensitivity of ultrasound causes it to be susceptible to interference
from other signals.
3. Aluminum Alloy
Aluminum alloy is an alloy with aluminum (Al) as the predominant metal, mixed with
other alloying elements, such as copper, magnesium, manganese, silicon, tin, nickel and
zinc (see figure 2.1). Nowadays, aluminum alloys are widely used in the marine
industry, chemical industry, aerospace, metal packaging, and transportation.
Fig 2.1 Composition of aluminum alloy (JPC, 2021)
Aluminum alloy is desirable in numerous applications because of its superior
performances. It is indicated that aluminum alloy had high corrosion resistance and
strength-to-weight ratio. It is highly versatile and flexible at the same time (Somerday,
2008). However, aluminum has its own set of disadvantages (Betts, 2010): (i) high cost
compared to steel; (ii) relatively low fracture toughness under high strength conditions;
and (iii) limited performance at high temperatures.
4. Explanations of Working Principles
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4.1 Working Principle of Video Transmission
After researches, I decided to use the UDP as the transmission protocol, because latency
could be fatal during rescue mission.
(Robert, 2014) In general, the process of video streaming can be divided into several
steps. In the first place, the analogue video data captured by camera is converted into
digital data by analogue-digital converter (ADC), then the segmented data is
compressed and encoded using the public key assigned by the receiver. Next, the
Content Delivery Network （CDN） will cache and send the content to the receiver
using UDP protocol, which allow one-to-one connection. Finally, the sent data is
decoded using private key and the user could playback the video on their devices. The
figure 2.2 shows the basic working principle of a broadcast live streaming.
Fig 2.2 (talking edge studio, 2022)
There are many parameters that determine what the final transferred image will look
like. Here, I will discuss the more important of these parameters. First, the clarity of the
video depends on the resolution (number of pixel) and color depth (number of bits per
pixel) used. For instance, a 3600 seconds PAL formatted, uncompressed video with a
typical frame size of 640 x 480, 8-bit CD, 25 fps, is calculated as follows:
Pixels/frame=640*480=307,200
Bits/frame=307,200*8=2,457,600=2.46 Mb
Bit rate (BR)=2.46*25=61.44 Mb/s
Data set size=61 Mb/s*3600 s=219,600 Mb=27,450 MB=27.5 GB/h
Second, a typical analogue color can be represented in digital format by varying the
RGB color components based on a value between 0 (lowest saturation) and 255 (highest
saturation) (see Table 2.3 and Figure 2.4).
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Table 2.3 RGB values for different colors (Fan, Z., 2005)
Fig 2.4 RGB color cube (Fan, Z., 2005)
4.2 Working Principle of Ultrasonic Sensor
The acoustic signal refers to an ultrasonic wave that travels at a frequency of 18 kHz or
more. The frequency ranges are shown on figure 2.2.4.
Fig 2.5 the frequency ranges (Malgorzata, R., 2017)
According to a report related to ultrasonic sensor, ultrasonic sensors (or transducers)
work on a similar principle as radar systems. (Lynnette, 2019) Ultrasonic sensors can
convert electrical energy into sound waves and vice versa. Typically, a microcontroller
is used to communicate with an ultrasonic sensor. To start distance measurement, the
microcontroller sends a trigger signal to the ultrasonic sensor. This trigger signal has a
duty cycle of 10 μS. When triggered, the ultrasonic sensor generates 8 acoustic pulses
and starts a time counter. Once the echoed signal is received the timer stops. The output
of the ultrasonic sensor is a high-level pulse, of the same duration as the time difference
between the transmitted ultrasonic pulse and the received echo signal (see figure 2.6).
Figure 2.7 demonstrates an overview of the working principle of ultrasonic sensor.
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Fig 2.6 (Lynnette, R., 2019)
fig 2.7 (Kirtan, G., 2016)
The time signal is converted by microcontroller into distance using following formulas:
Process & Result
1. Plan and design
1.1 Project development model
For this project, I plan to use the traditional waterfall model. The waterfall model is one
of the earliest models of software development in which tasks are executed sequentially,
starting from the top with feasibility and flowing down through various tasks with
implementation into the live environment. Requirements flow into the design, which
flows into building or implementation, and finally into tests. It is very suitable for
relatively small and short-length project with fixed requirements. The corresponding
stages in waterfall model are shown in the figure below.
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1.2 Design concept
(i)Function modules
After conducting a series of research, I came to understand the basic working principles
of different function modules and decided to have video transmission function and
temperature detection function (this is replaced by ultrasonic detection, which will be
discussed later) on the car.
The video transmission function is designed to transmit the real-time environment
around the rescue car to the rescue workers outside after the rescue vehicle enters the
collapsed building, so that the rescuers can better know the situation inside the building.
At the same time, the rescuers can use the camera modules to find and determine the
location of the trapped people more quickly.
As the temperature inside the collapsed building is unknown, the temperature detection
function was designed to collect the values of the temperature around the car, so that
the relief workers could determine what kind of help and suggestions should be given
to the trapped people based on the temperature there.
The installation of ultrasonic distance measurement modules in rescue vehicles is an
innovative act, because no rescue vehicle has ultrasonic distance measurement function
in previous projects. In my design, ultrasonic distance measurement is mainly used to
detect the distance of obstacles from the vehicle, thus helping the remote controller to
drive the vehicle better. At the same time, ultrasonic distance measurement can also
make the rescuers better know the situation about obstacles inside the collapsed
building.
(ii)Shape of the car
The entire body of the car will be similar in shape to a tank and will travel on tracks
with two drive motors. This design is to make the rescue car have a better ability to
cross obstacles, as well as the ability to operate in different extreme terrain, such as
gravel roads, swamps, mud, etc. Besides, I designed the car to be made mainly of
aluminum alloy. As study reviewed suggests (Somerday B.P., 2008), aluminum alloy
has high corrosion resistance and strength-to-weight ratio. It is highly versatile and
flexible at the same time.
1.3 Materials needed
(i)
(ii)
(iii)
Raspberry Pi model 4B
Expansion board for Raspberry Pi
MegaPixels USB camera
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(iv)
(v)
(vi)
(vii)
(viii)
(ix)
(x)
Ultrasonic sensor (HC-SR04)
Bluetooth module
Aluminum alloy chassis
3 micro servos
2 active wheels, 10 driven wheels
Tracks
11-volt battery
2. Programing
2.1 Programming of camera modules
The programming and implementation of all functional modules is based on the
Raspberry Pi model 4 B (see figure 3.1), which is a single-board computers (SBCs),
with Python as the main programming language. After referring to others’ bogs of
similar projects, I decided to display the camera's captured footage on the screen by
connecting to the Raspberry Pi's hotspot (see figure 3.4), and the camera is connected
to the Raspberry Pi via universal serial bus (USB) port.
Fig 3.1 Raspberry Pi model 4B
Fig 3.2 me checking information on raspberry pi
The camera module has 2 dimensions of freedom, which means the camera can record
the entire surrounding environment (see figure 3.3).
Fig 3.3 the camera module
Fig 3.4 the captured image is displayed on iPad
Part of the code is shown below:
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def servo_appointed_detection(pos):
for i in range(18):
pwm_servo.ChangeDutyCycle(2.5 + 10 * pos/180)
def serial_data_parse():
global NewLineReceived
global CarSpeedControl
global g_CarState
global red
global green
global blue
if (InputString.find("$4WD,PTZ", 0, len(InputString)) != -1):
i = InputString.find("PTZ", 0, len(InputString))
ii = InputString.find("#", 0, len(InputString))
if ii > i:
string = InputString[i+3:ii]
m_kp = int(string)
servo_appointed_detection(180 - m_kp)
NewLineReceived = 0
InputString.zfill(len(InputString))
print "in"
print InputString
2.2 Programming of ultrasonic sensor
The project did not go smoothly. When I finished the camera module and was ready to
start the development of the temperature detection module, I found that the extension
board I was using did not support temperature sensors. After failed attempts at
secondary programming of the expansion board and replacing the temperature sensor
with a different model, I decided to replace the temperature detection module with a
more practical functional module: ultrasonic sensor (see figure 3.5).
Fig 3.5 ultrasonic sensor
According to the formula, a program could be written to measure the distance between
the car and the obstacles ahead. Then, the measured distance is shown on the screen
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(see figure 3.6).
Fig 3.6 the measured distance
Part of the code is shown below:
EchoPin = 0
TrigPin = 1
def Distance_test():
GPIO.output(TrigPin,GPIO.HIGH)
time.sleep(0.000015)
GPIO.output(TrigPin,GPIO.LOW)
while not GPIO.input(EchoPin):
pass
t1 = time.time()
while GPIO.input(EchoPin):
pass
t2 = time.time()
print "distance is %d " % (((t2 - t1)* 340 / 2) * 100)
time.sleep(0.01)
return ((t2 - t1)* 340 / 2) * 100
2.3 Programming of movements
Next, I wrote corresponding programs to control the forward, backward, left and right
movement of the car. Since the car travels on tracks, I control the car by controlling the
speed and direction of the two tracks. A high-level input to the motor's forward input
means the tracks will turn forward, a high-level input to the motor's backward input
means the tracks will turn backwards, and a low-level input means they will be
stationary. In addition, the control terminal is an app that could be run on any
networkable devices.
Part of the code is shown below:
def run():
GPIO.output(IN1, GPIO.HIGH)
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GPIO.output(IN2, GPIO.LOW)
GPIO.output(IN3, GPIO.HIGH)
GPIO.output(IN4, GPIO.LOW)
pwm_ENA.ChangeDutyCycle(CarSpeedControl)
pwm_ENB.ChangeDutyCycle(CarSpeedControl)
def back():
GPIO.output(IN1, GPIO.LOW)
GPIO.output(IN2, GPIO.HIGH)
GPIO.output(IN3, GPIO.LOW)
GPIO.output(IN4, GPIO.HIGH)
pwm_ENA.ChangeDutyCycle(CarSpeedControl)
pwm_ENB.ChangeDutyCycle(CarSpeedControl)
def left():
GPIO.output(IN1, GPIO.LOW)
GPIO.output(IN2, GPIO.LOW)
GPIO.output(IN3, GPIO.HIGH)
GPIO.output(IN4, GPIO.LOW)
pwm_ENA.ChangeDutyCycle(CarSpeedControl)
pwm_ENB.ChangeDutyCycle(CarSpeedControl)
def right():
GPIO.output(IN1, GPIO.HIGH)
GPIO.output(IN2, GPIO.LOW)
GPIO.output(IN3, GPIO.LOW)
GPIO.output(IN4, GPIO.LOW)
pwm_ENA.ChangeDutyCycle(CarSpeedControl)
pwm_ENB.ChangeDutyCycle(CarSpeedControl)
def spin_left():
GPIO.output(IN1, GPIO.LOW)
GPIO.output(IN2, GPIO.HIGH)
GPIO.output(IN3, GPIO.HIGH)
GPIO.output(IN4, GPIO.LOW)
pwm_ENA.ChangeDutyCycle(CarSpeedControl)
pwm_ENB.ChangeDutyCycle(CarSpeedControl)
def spin_right():
GPIO.output(IN1, GPIO.HIGH)
GPIO.output(IN2, GPIO.LOW)
GPIO.output(IN3, GPIO.LOW)
GPIO.output(IN4, GPIO.HIGH)
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pwm_ENA.ChangeDutyCycle(CarSpeedControl)
pwm_ENB.ChangeDutyCycle(CarSpeedControl)
def brake():
GPIO.output(IN1, GPIO.LOW)
GPIO.output(IN2, GPIO.LOW)
GPIO.output(IN3, GPIO.LOW)
GPIO.output(IN4, GPIO.LOW)
3. Installation of motors
Initially, I planned to use four TT motors to drive the car. In order to obtain a vehicle
with greater ability to cross obstacles and operate in the field, I designed the vehicle to
move via tracks (see figure 3.7). However, I found that the torque of TT motor was too
low to be applied to tracks.
After conducting further researches online, I found another type of motors that could
be used in my rescue car: 25GA370 DC geared motors. In order to learn about the
differences between these two types of motors, I made a comparison for their data (see
figure 3.8). Subsequently, I replaced original TT motors with two 25GA370 DC geared
motors, which have a higher torque.
Fig 3.7 comparison between two motors
Fig 3.8 comparison between data of two motors
Fig 3.9 the tools used to check the voltage
Fig 3.10 the tools used for welding
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4. Modification and assembling
It is found that previously designed holes on the chassis could not fit the motherboard.
So, I drilled new suitable holes in the chassis using tools in my school’s engineering
laboratory. Finally, I installed the motherboard, expansion board, camera module,
ultrasonic module, battery, motors and tracks on the chassis.
5. Result
Finally, an earthquake rescue car was produced. For the hardware part, the main body
is made of aluminum alloy, which is about 25cm long, 18.5cm wide, and 18.5cm high
(see figure 3.11, 3.12 and 3.13). Two DC geared motors are used to drive two tracks. In
terms of the software part, the car uses Raspberry Pi model 4B as the motherboard, and
is equipped with functional modules like real-time video transmission and ultrasonic
distance measurement. At the same time, remote control can be achieved with any
Networkable devices.
Fig 3.11 front side of the car
Fig 3.12 up side of the car
Fig 3.13 right side of the car
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Tests & Data Analysis
1. Video transmission test
Testing the video transmission function is relatively simple. In the first place, the device
used should be connected to the Raspberry Pi's hotspot. Then a corresponding port ID
is entered to display the captured footage on the device. In this case, an iPad is used as
the display device. Figure 4.1 demonstrates the test process.
Fig 4.1 the video transmission test
As figure 4.1 suggests, the real-time footage is displayed on the iPad successfully,
which means the function of real-time video transmission is realized.
2. Ultrasonic distance measurement test
To test the usability as well as the accuracy of ultrasonic distance measurement, I
designed an experiment. As it is shown in table 4.2 below, a total of three objects were
used in this experiment: hand, stone, and glass bottles. For each object, three sets of
experiments with different distances were conducted. The ultrasonic measurements
were compared with the actual distances respectively and corresponding accuracies
were obtained.
Table 4.2 results of ultrasonic measurement experiment
According to the data, the accuracy is relatively high when measuring human hands
and stones with ultrasonic sensor, reaching an average value of 99.03% and 99.10%
respectively. Nevertheless, when measuring glass products such as glass bottles, the
accuracy is relatively low, with an average value of about 96.83%. in general, the
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accuracy of ultrasonic distance measurement is quite high, and the error is maintained
within 2%.
3. Manoeuvreability test
In the end, a simulation operation in a simulated obstacle-filled environment was
conducted as a test of the actual running capability of the rescue car. This simulation
tested the overall mobility of the car, the ability to cross barriers, water resistance, and
the operation of a number of functions, including video transmission, ultrasonic
detection, and the buzzer. A video of the testing process was recorded and the result was
very pleasing, which represented a successful result of the project.
Discussion
This project began with the aim of assisting earthquake relief workers to complete
rescue tasks more efficiently. As the result of the project, an earthquake rescue car was
produced, which was able to realize real-time video streaming and ultrasonic distance
measurement, as well as remote alarm. Although some adjustments were made to the
original plan, the overall project was completed satisfactorily.
Based on researches, prior projects, such as the debris search and rescue robot designed
by Shenyang Automation Institute and the casualty transportation robot designed by
Yokohama police station in Japan, mainly concentrated on characteristics like large
body size with large strength. Basically, prior projects were applied to move debris or
transfer the wounded. This project, however, has the characteristics of small size, high
flexibility, high barrier-crossing capability. It could help relief workers inspect certain
environment they cannot enter, such as collapsed buildings. At the same time, the
innovative application of ultrasonic distance measurement on the rescue car is able to
provide essential data for the relief work. In this respect, this project fills the research
gap of previous projects with regard to the relief work in special harsh environments.
Furthermore, if this rescue car can be used in actual rescue work after further
improvement, it will help rescuers to locate the locations of trapped people faster, so as
to rescue them faster. In an earthquake relief, every second is precious, so a faster rescue
means more lives can be saved. At this level, the value of this rescue car in future
practical applications is incalculable.
Due to time, technical and background knowledge constraints, this project still has
many shortcomings. For instance, the car’s remote-control distance is around 15 to 20
meters, which is not long enough for certain applications. In response to this problem,
the signal receiver in the car may be replaced by a lower frequency receiver module.
Moreover, although the aluminum alloy material used now has a very good
performance, it is still not the best material. According to research, Carbon Fiber
Composites can be used to improve the car’s impact resistance and fire resistance
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provided that there is adequate financial guarantee in the future. Besides, because of
time constraints, this project does not possess the function of real-time audio
transmission. I will consider adding an audio module later to improve this rescue car.
This project is completed based on many previous projects and has the potential to be
further developed. In the future, the results of this project may be used not only for
earthquake relief, but might also for fire rescue, anti-terrorism operations, big data
collection, smart home appliances and other various life scenarios. It is hoped that this
project can shed some light on this realm and attract more professionals to explore and
develop in this field.
Conclusion
This report illustrates the main background and process of developing an earthquake
rescue car. The earthquake rescue car aims to assist earthquake relief workers to achieve
faster targeting of people that are trapped in collapsed buildings, and provide a channel
for information exchange. This project did not follow the design ideas of previous
rescue vehicles, but innovatively reduced the size of the rescue car to obtain higher
flexibility, making the rescue work much more efficient, while providing new design
ideas for future rescue car. My understanding of engineering is greatly enhanced in this
project, before which I did not realize that such a small-scale project could take so much
time and efforts in researches, design, operation, debugging and testing. Limitations,
however, exist in several aspects. For instance, certain functions, such as temperature
monitoring, was not realized due to technical and time constraints. The lack of
evaluation by relevant professionals may also lead to some shortcomings in this car
when it is applied in real life. Consequently, more work is required to ensure the
functionality and feasibility with the cooperation of relevant institutions in the future.
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