DESIGN AND FABRICATION OF ROCKER BOGIE MECHANISM-BASED
ROVER FOR HUMAN DETECTION IN DISASTER ZONES
BATCH - 9
Under the Guidance of
Dr. P. Venkata Ramana
Professor
Dept. of Mechanical Engineering
MGIT
Batch Members
21261A1406 - Barma Rajya Laxmi
21261A1412 - Chetha Ajay
22265A1401 - Anees Ur Rahman
Shaik
22265A1409 - Yella Shyam Babu
ABSTRACT
Natural disasters like earthquakes pose significant risks to human life, with
rescue operations often hindered by time and the challenge of locating trapped
survivors beneath rubble. This project aims to develop an AI-based robotic
vehicle designed for rescue missions in earthquake-prone areas, landslides, and
tornado zones. Equipped with a rocker-bogie mechanism, the rover navigates
rough terrain using ultrasonic sensors while detecting humans with IR and
Open CV. By leveraging AI , the system reduces false positives, ensuring faster
and more accurate search operations to save lives.
PARTS DIMENSIONS
LENGTH : 420mm
WIDTH :300mm
HEIGHT :220mm
FABRICATION PROCESS
SF3015G CNC LASER CUTTING
Machine Dimensions (L×W×H): 4626 mm × 2950
mm × 1900 mm
Working Area: 3050 mm × 1530 mm
Laser Source: fiber laser
Laser Power: 1.5KW-2KW
Maximum Cutting Thickness: 20 mm for MS
Maximum Speed: 80 m/min
Cutting Nozzle diameter : 1mm
FABRICATED PARTS
POWDER COATING
ASSEMBLING OF PARTS
PROCESS FLOW
COMPONENTS
L298N motor driver
The L298N motor driver is a dual H-bridge module used to control two DC motors
or one stepper motor. It supports 5V–35V motor voltage, handles up to 2A per
channel, and allows bidirectional movement and PWM-based speed control.
DC MOTORS
•Rated Voltage: 12V DC
•No-load Speed: ~100 RPM
•Torque: 1.2 kg·cm (approx. 0.117 Nm)
•Stall Current: ~1.2A to 1.5A (varies by manufacturer)
•No-load Current: ~100mA to 250mA
•Motor Type: Brushed DC motor with metal/plastic gearhead
•Shaft Diameter: ~6 mm (D-shaped or round, varies)
•Weight: ~100–150 grams
•Direction Control: Reversible via H-Bridge (e.g., L298N)
CIRCUIT DIAGRAM
CODE for CONTROLLING MOTORS
// Define motor direction pins only (no EN pins)
const int in1[] = {2, 4, 6, 8, 10, 12};
const int in2[] = {3, 5, 7, 9, 11, 13};
void setup() {
// Set all motor direction pins to OUTPUT
for (int i = 0; i < 6; i++) {
pinMode(in1[i], OUTPUT);
pinMode(in2[i], OUTPUT);
}
runAllMotorsForward();
}
void loop() {
// Run continuously
}
// Run all motors forward
void runAllMotorsForward() {
for (int i = 0; i < 6; i++) {
digitalWrite(in1[i], HIGH);
digitalWrite(in2[i], LOW);
}
// Optional: Stop all motors
void stopAllMotors() {
for (int i = 0; i < 6; i++) {
digitalWrite(in1[i], LOW);
digitalWrite(in2[i], LOW);
}
}
Project Communication and Control Flow
•This project uses a Host Computer, Raspberry Pi 4 model B, and
Arduino Uno to achieve navigation and remote monitoring.
•The system is designed for rescue operations, where efficient
communication and control are critical.
Host Computer → Raspberry Pi
•The Host Computer sends control commands to the Raspberry Pi using Socket
Communication over USB.
•These commands include instructions for movement, sensor requests, and camera
control.
•The Raspberry Pi acts as the main controller in the field.
Raspberry Pi → Arduino Uno → Motors
•The Raspberry Pi sends motor control signals to the Arduino Uno.
•Arduino drives the DC motors based on instructions.
•This division allows the Raspberry Pi to focus on decision-making while the Arduino handles
real-time motor control.
Sensor Network with Raspberry Pi
•Raspberry Pi interfaces with multiple sensors for real-time awareness:
• Ultrasonic Sensors: Obstacle detection
• IR Sensor: Line following / close-range detection
• GPS Module: Real-time location
• Pi Camera: Live video stream
•These components collect essential data for autonomous navigation and rescue decisions.
Raspberry Pi → Web Server → Host
•Sensor data and video feed are streamed to the Host Computer via a Web Server
hosted on the Raspberry Pi.
•The web interface allows remote users to monitor the robot in real time and
adjust controls accordingly.
Full Signal Flow Recap
•Host Computer communicates with Raspberry Pi via USB.
•Raspberry Pi:
• Sends commands to Arduino for motor control.
• Collects data from sensors and camera.
• Streams data to Host via Web Server.
•Arduino drives motors based on commands.
•This system enables semi-autonomous control and remote live feedback.
THANK YOU
ANY QUESTIONS