SOLAR BASED RAILWAY TRACK FAULT

DETECTION SYSTEM
[U17EEP8701 – PROJECT PHASE II]

A REPORT

Submitted by

GAYATHRI R - 17BEE049

AKILA M - 17BEE050

PRABHU DEVA K - 17BEE230

in partial fulfillment of the requirements for the degree of

BACHELOR OF ENGINEERING

DEPARTMENT OF
ELECTRICAL & ELECTRONICS ENGINEERING
KUMARAGURU COLLEGE OF TECHNOLOGY
COIMBATORE 641 049
MAY 2021
 KUMARAGURU COLLEGE OF TECHNOLOGY
COIMBATORE 641049
CERTIFICATE

The project work embodied in the present report entitled “SOLAR

BASED RAILWAY TRACK FAULT DETECTION SYSTEM” has been
carried out in the Department of Electrical and Electronics Engineering,
Kumaraguru College of Technology, Coimbatore. The work reported herein is
original and does not form part of any other project or thesis or paper published
on the basis of which a degree or award was conferred on an earlier occasion or
to any other scholar.

We understand the Institution policy on plagiarism and declare that the

project report and publications are our own work, except where specifically
acknowledged and has not been copied from other sources or been previously
submitted for award or assessment.

GAYATHRI R - 17BEE049

AKILA M - 17BEE050

PRABHU DEVA K - 17BEE230

Signature of Project Guide Signature of HoD-EEE

Mr. N. MOHANA SUNDARAM, Dr. K. MALARVIZHI,
Asst.Prof./EEE.. Prof & Head

Submitted to the viva-voce Examination held on 23/06/2021

Signature of the Internal Examiner Signature of the External Examiner

Dr. M. MOHANRAJ, AP / EEE / Dr. C. RAMAKRISHNAN, Prof / EEE /
KCT SNS Tech

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 ABSTRACT

Our country has the largest railway network in Asia, which is managed
by single entity, that is our Indian Government. Transportation by railways is
preferred by people because of many merits such as speed, high capability and
low cost. Due to its larger size, it is difficult to monitor and maintain the
railway tracks regularly. Because of lack of maintenance, major accidents are
happening, which may lead to severe consequences. In order to improve the
safety and reliability of the railway tracks and to meet the international
standards, regular inspection of railway tracks by an automated system is
proposed in this project work. The autonomous vehicle without involving
human operators for railway track fault detection is operated by solar panel.
This vehicle consists of Arduino, IR sensor, GPS and GSM. IR sensor is
employed to detect the crack on railway tracks, the location of which is sent by
the central component Arduino to the nearby railway station through GPS and
GSM. The fault location is sent in terms of latitude and longitude through
SMS. The autonomous crack detection vehicle is powered by battery operated
gear motor, which receives energy from the solar panel. Since the vehicle
continuously monitors the railway track, the possibility of accidents and
mishaps can be avoided to a larger extent.

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 ACKNOWLEDGEMENT

We wish to record our deep sense of gratitude and profound thanks to

the Management and Principal of Kumaraguru College of Technology,
Coimbatore for giving us an opportunity to do the project work successfully.
We express our sincere thanks to the Head of the Department and Project
Coordinator for their keen interest, inspiring guidance and constant
encouragement throughout the work in all stages.

We are very much indebted and grateful to our project guide

Mr.N.MOHANA SUNDARAM, Assistant Professor/EEE, Kumaraguru
College of Technology, Coimbatore for his valuable suggestions and support in
order to bring this work into fruition.

We also thank the faculty and non-teaching staff members of the

Department of Electrical and Electronics Engineering, Kumaraguru College of
Technology, Coimbatore, for their advice and motivation during the duration of
project work.

GAYATHRI R - 17BEE049

AKILA M - 17BEE050

PRABHU DEVA K - 17BEE230

4|Page
 Table of Contents

Chapter no. Title Page no.

Abstract 3
List of Abbreviations 6
1 Introduction
1.1 Problem Statement 7
1.2 Field of the Project 7
1.3 Objectives 8
1.4 Organization of the Report 9
2 Proposed System
2.1 Block Diagram 10
2.2 Configuration of the Component 11
2.3 Circuit Diagram 20
2.4 Description of the Project 21
3 Implementation of Project
3.1 Algorithm/ Flow Chart 22
3.2 Implementation of Project 23
4 Results and Discussion
4.1 System Specifications 26
4.2 Simulation Results 27
4.3 Hardware Results 28
5 Conclusion
5.1 Conclusion 29
5.2 Future Scope 29
Appendix 30
References 35

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 LIST OF ABBREVIATIONS

GSM - Global System for Mobile communication

GPS - Global Positioning System
IR Sensor - Infrared Sensor
DC - Direct Current

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 CHAPTER 1
INTRODUCTION

1.1 PROBLEM STATEMENT:

Nowadays, inspection on railway track is done manually in
order to locate the cracks. Because of huge size of railway network, it is
impossible to monitor the whole railway network manually in a timely manner
and find the exact location of the crack on the railway track, which in turn may
lead to poor maintenance and hence severe accidents. Also, manual inspection
is time consuming and needs more labour requirement. Fig. 1 shows the photo
of railway track damage, that is being monitored and repaired by the railway
authorities.

Fig. 1 Photo of Railway Track Damage

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1.2 FIELD OF THE PROJECT :
Automation is a technology that can be used to improve reliability of the
system at reduced cost. Automation can be implemented in the railway system
so that regular inspection and maintenance of railway tracks is achieved to
meet the International safety and reliability standards. Automation will be
achieved through computers, microcontrollers, etc. In this project work, an
Autonomous vehicle based railway track fault detection system operated by
solar panel powered battery is proposed, which helps in detecting fault and
sending the fault location to the nearby railway station using Arduino through
GPS and GSM.

1.3 OBJECTIVES:
The main aim of this project work is to develop an autonomous vehicle
for detecting crack on the railway track and sending a message and alarm to the
nearby railway station operator to intimate that there is a breakage of railway
line or there is any object ahead of the railway track. Arduino is employed for
multiple operations and IR sensors are used to detect any obstacle or crack on
the railway track. Solar panel is employed to charge the battery, which in turn
operates the motor driver circuit. Following are the objectives of the project
work:
 To develop an autonomous vehicle for railway track fault detection.
 To identify fault location using IR sensor and give information about
latitude and longitude of fault detection through Arduino using GPS and
GSM.
 To operate the autonomous vehicle using solar energy.

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1.4 ORGANIZATION OF THE REPORT :

CHAPTER 1 – Deals with the problem identification and objectives of the

project.
CHAPTER 2 – Explains the block diagram of the proposed system
highlighting the function of each component.
CHAPTER 3 – Focuses on the implementation of the proposed system.
CHAPTER 4 – Presents the results of the proposed system.
CHAPTER 5 – Covers the conclusions and future scope of the project.

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 CHAPTER 2
PROPOSED SYSTEM

2.1 BLOCK DIAGRAM

The overall block diagram of the proposed system is shown in Fig. 2.

Fig. 2 Block diagram of the proposed system

The block diagram consists of the following components:
 Arduino
 Global Positioning System(GPS)
 Global System Mobile(GSM) communication
 IR Obstacle Sensor
 Led Indicators
 Battery
 Motor Driver

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  Solar Power Supply

2.2 CONFIGURATION OF THE COMPONENT

ARDUINO

Arduino is an open electronics platform with a hardware and package to

take a look at complicated electronics prototypes and product. The hardware
consists of a microcontroller which will be programmed to virtually try any
task. With the Arduino board, user will write programs and build interface
circuits to browse switches and different sensors to regulate motors and lights
with little or no effort. The open source nature doesn’t need any licenses to
develop, use, distribute or may be sell to the merchandise. The package files
which has all the ASCII text file library also are open sourced and also the user
will modify them to form the project a lot of versatile and improve its
capabilities. Arduino Uno that is that the simplest one to use and also the best
one for learning on.

HARDWARE SPECIFICATIONS:

The Arduino Uno 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,16MHz ceramic resonator, a USB connection, a
power jack, an ICSP header, and 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 Uno 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. Fig. 3 shows the Arduino Board.

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Features:
1. Microcontroller- ATmega328
2. Operating Voltage- 5V
3. Input Voltage (recommended) -7-12V
4. Input Voltage (limits)- 6-20V
5. Digital I/O Pins- 14 (of which 6 provide PWM output)
6. Analog Input Pins- 6
7. DC Current per I/O Pin- 40 mA
8. DC Current for 3.3V Pin- 50 mA
9. Flash Memory -32 KB (ATmega328) of which 0.5 KB used by bootloader
10. SRAM -2 KB (ATmega328)
11. EEPROM -1 KB (ATmega328)
12. Clock Speed -16 MHz

Fig. 3 Arduino Board

GLOBAL SYSTEM FOR MOBILE COMMUNICATION (GSM):

The GSM is one among the representative wireless networks that has
low power, low value and convenience to use. GSM networks operate at
various carrier frequency ranges with most 2G GSM networks in operation

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within the 900 MHz or 1800 MHz bands. The longest distance the GSM
specification supports in sensible use is thirty five kilometers. One among the
key options of GSM is that the Subscriber Identity Module, usually called a
SIM card. A GSM electronic equipment is a special kind of electronic
equipment that receives a SIM card and operates over a contribution to a
conveyable operator like a mobile. This permits the user to retains his or her
information once switching handsets. GSM offers 3 basic sorts of services:
• Telephony services or teleservices:
These services include Voice Calls, Video text and Short Text
Messages(SMS).
• Data services or bearer services:
This is the essential building block resulting in widespread mobile
net access and mobile knowledge transfer.
• Supplementary services:
These services embody caller identification, telephony, telephone,
multi-party conversations.

GLOBAL POSITIONING SYSTEM (GPS)

The Global Positioning System may be a space-based navigation

system that gives location and time of any place. Originally the system was
designed just for military applications. Since the first Seventies, the US
Government has spent tens of billions of greenbacks to develop, turn out and
operate GPS as a twin use (military and civilian) system. Now, GPS has many
number of applications such as personal navigation, vehicle navigation,
agriculture, mobile resource management, crime chase, mapping and GIS. GPS
satellites broadcast signals from space that GPS receivers, use to provide three-
dimensional location (latitude, longitude, and altitude) plus precise time. GPS
receivers provides reliable positioning, navigation, and timing services to
worldwide users on a continuous basis in all weather, day and night, anywhere

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on or near the Earth. The accurate timing that GPS provides facilitates
everyday activities such as banking, mobile phone operations, and even the
control of power grids. Farmers, surveyors, geologists and countless others
perform their work more efficiently, safely, economically, and accurately using
the free and open GPS signals.
Features:
 High sensitivity -160dBm
 Searching up to 65 Channel of satellites
 LED indicating data output
 Low power consumption
 GPS L1 C/A Code
 Supports NMEA0183 V 3.01 data protocol
 Real time navigation for location based services
 Works from +12V DC signal and outputs 9600 bps serial data
 Magnetic base active antenna with 3 meter wire length for vehicle roof
top installation

Fig. 4 SIM808 module

SIM808 is all in one module with GSM, GPRS,GPS and
BLUETOOTH. SIM808 has GNSS receiver which enables easy GPS FIX. SIM
808 has 2 antenna sockets one for GSM & other for GPS. A stub antenna is
used for GSM & a magnetic external patch antenna is used for GPS. Fig 5
shows the interfacing of SIM808 with Arduino.

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 Fig. 5 Interfacing of Arduino with SIM808 Module

To send the GPS coordinates as a text message to the predefined mobile

number with a SIM card, the following steps are done:
 Inserting the SIM card into aboard slot that's mounted on the GSM
 Plugging the module into the Arduino board.
 USB cable and pressing the facility On/Off switch for some moments
that the power On/Off indicator crystal rectifier glows with success the
crystal rectifier can blink unceasingly each 3 seconds.
 Notice the blinking rate of network crystal rectifier, it starts to blink in
quick for few seconds (Searching for network). Once the association is
established with success the crystal rectifier can blink unceasingly each
3 seconds.

INFRARED SENSOR:
The purpose of a sensing element is to respond to some quite of an input
physical property to convert it into an electrical signal that is compatible with
electronic circuits. The sensor's output signaling could also be within the style
of voltage, current, or charge. An Infrared (IR) sensor is used to detect
obstacles in front of the robot or to differentiate between colors depending on
the configuration of the sensor.

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 Fig. 6 Infrared (IR) sensor

Fig.6 shows a very simple black box model of the IR Sensor. The sensor
emits IR light and gives a signal when it detects the reflected light. An IR
sensor consists of an emitter, detector and associated circuitry. The circuit
required to make an IR sensor consists of two parts; the emitter circuit and the
receiver circuit. The emitter is simply an IR LED (Light Emitting Diode) and
the detector is simply an IR photodiode which is sensitive to IR light of the
same wavelength as that emitted by the IR LED. When IR light falls on the
photodiode, its resistance and correspondingly, its output voltage, change in
proportion to the magnitude of the IR light received. This is the underlying
principle of working of the IR sensor.
The sensor used here is model FC-51. The IR transmitter is a LED that
emits radiation in the frequency range of infrared, invisible to the naked eye.
An infrared LED works as a simple LED with a voltage of 3V DC and a
current consumption of about 20mA. The IR receiver, such as a photodiode or
a phototransistor, is capable of detecting infrared radiation emitted from the IR
transmitter. If there's a crack in the railway track,the light emitted by IR
transmitter fall on the obstacle or crack and received by IR receiver. If there is
no crack or obstacle, there is no output from the IR receiver. Fig. 7 shows the
interfacing of IR sensor with Arduino.

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 Fig.7 Interfacing of IR Sensor with Arduino

DC MOTOR DRIVER CONNECTIONS:

Almost each mechanical movement is accomplished by an electrical
motor. The DC motor includes a lot of applications in today’s field of
engineering and technology ranging from an electrical shaver to elements of
vehicles, altogether tiny or medium sized driving applications DC motors come
back handy. In most cases, electrical motors encompass a stator coil (stationary
field) and operate through the interaction of magnetic flux and electrical
phenomenon to provide force.
The L293D driver essentially will drive 2 motors within the same time,
the motive force. Power and ground pins (pin8 and pin5) are connected to the
Arduino power and ground seperately. The input pins (pin2 and pin7) are
connected to Arduino pin2 and pin3 for forward and backward movement. The
outputs (pin3 and pin6) are connected to motor terminals. Fig. 8 shows the
interfacing of driver circuit with Arduino. The operation of the motor is
completed through the input logic at pin2 and 7. Input logic 00 or 11 can stop
or start the motor, logic 01 and 10 can rotate it in clockwise and anticlockwise

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directions respectively. The last implementation step is connecting the Arduino
to the portable computer via USB cable to transfer the program.

Fig. 8 Interfacing of Arduino with Driver circuit

SOLAR PANEL AND BATTERY :

Solar power can be stored in the rechargeable battery . A rechargeable

battery, storage battery, or accumulator is a type of electrical battery. It
comprises of one or more electrochemical cells, and is a type of energy
accumulator. It is known as a secondary cell because its electrochemical
reactions are electrically reversible. Rechargeable batteries come in many
different shapes and sizes, ranging from button cells to megawatt systems
connected to stabilize an electrical distribution network. Photovoltaics is a solar
power technology that uses solar cells or solar photovoltaic arrarys to convert
light from the sun directly into electricity.

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 Fig.9 solar panel connected to battery

Solar panel is connected to 12 volt and 12 volt battery is connected to gear

motor

Fig .10 12 volt battery

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Arduino is connected to 6 volt battery

Fig.11 6Volt battery

2.3 Circuit Diagram

Fig 12 shows the overall circuit diagram of the proposed system.

Fig. 12 Overall circuit diagram of the proposed system

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2.4 DESCRIPTION OF THE PROJECT:
The proposed railway track crack detection system consists of an
infrared sensor, which acts as the transmitter and receiver assembly that
functions as the rail crack detector. In order to detect the current location of the
device in case of detection of a crack, a GPS receiver whose function is to
receive the current latitude and longitude data is used. To communicate the
received information, a GSM modem has been utilized.

System simulation done in Proteus software is a simple method for

identifying the errors in electrical or electronic circuits by using computers. It
allows the engineer to test the design before it is built in the real situation. The
overall circuit shown in the Fig 12 is designed and tested using an Arduino
Uno, GSM module, GPS module and IR sensor libraries.

 The first step be follow is to upload the Arduino program in a hex form
by double clicking on the module
 By clicking a play button, simulation will run and while the switch is
pressing, the motor is running indicating that there is no crack in rails.
 When the switch is off, this means there is a crack and the motor will
stop running
 To get the desired result, the first step is to upload the hex program of
GPS module in the same way
 When the simulation is run, the latitude and longitude data appear in a
virtual monitor screen.
 The second step is to upload the hex program of GSM module
 The message appears in the screen indicating that the module is ready to
send the data

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 CHAPTER 3

IMPLEMENTATION OF THE PROJECT

3.1 FLOWCHART

Fig. 13 Flow chart of the proposed method

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3.2 IMPLEMENTATION OF THE PROJECT:

Fig. 11 shows the overall hardware setup of solar power based railway
track fault detection system. In this work, Arduino UNO, solar panel, SIM808
with GSM and GPS, Motor driver circuit, gear motors, IR sensor, 6V and 12V
battery are used. The first implementation step is the building of a mobile robot
chassis similar to a simple toy car without cover and with two DC motors drive
with four wheels which are powered by 5V power supply. Also one IR sensor
has been fixed in front of the robot to detect the crack in the railway track

 IR sensor is connected with Arduino UNO.

 If fault detected in railway track, the IR sensor will sense and the vehicle
will stop.
 GPS is used to locate the fault location of railway track.
 GSM is used to send SMS regarding the fault location to the nearby
railway station.
 Arduino is connected to 6V battery and solar panel is connected to 12V
battery.
 12V battery is connected to gear motors.
 Motor driver is used to move the vehicle forward.

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 Fig.14 Side view of the hardware setup

Fig. 15 Overall hardware setup of the proposed system

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 BUDGET OF THE PROJECT:

Components Cost(Rs.)

Wheel 140

Gear Motor 550

12V Battery 670

6V Battery 400

Motor Driver 190

Arduino UNO 450

Solar Panel 420

Dc Switch 20

Connecting Wires 60

Robot Car 190

Glue Stick 30

SIM 808 Modem with GPS 1900

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 CHAPTER 4
RESULTS AND DISCUSSION

4.1 SYSTEM SPECIFICATIONS

Components Specifications

Arduino UNO 5V, ATmega38, 40mA

GPS AND GSM SIM 808 module

IR sensor FC -51

DC motor 12v,100 rpm

Motor Driver L293D Module

Battery 6v 6v,4.5 AH , Tech rechargeable lead

acid battery

Battery 12v 12v,1.3 AH , Sanca rechargeable lead

acid battery

Solar panel 12V,15w

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4.2 SIMULATION RESULTS:

When there is no fault on railway track, the motor keeps on running

and vehicle will move forward. No information will be sent via GSM. Fig 16
shows the No fault case. When there is a crack on railway track, the motor
stops running and information will be sent via GSM. Fig 17 shows the Fault
case. Fig.21 shows the latitude, longitude, date and time of the crack through
GPS and GSM. Fig 16 shows the simulation circuit in Proteus Software. Fig.
19 and Fig. 20 shows the hardware implementation of the whole setup showing
the no fault and fault cases respectively. Fig. 21 shows the hardware results of
the display of crack detection with its location and time.

Fig. 16 No fault in track

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 Fig. 17 Fault on Track

4.3 HARDWARE RESULTS:

Fig. 18 shows the hardware implementation of the whole circuit.

 Two DC motor drives with four wheels powered by 5V power supply is used
to move the vehicle forward. This vehicle is powered by solar panel.

 IR sensor is fixed in front of the vehicle to detect the fault in the railway track.
If fault is detected in railway track, the IR sensor will sense and stop the
vehicle.

 GPS and GSM are used to locate the fault on railway track and send SMS
regarding the fault location to the nearby railway station.

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 Fig.18 Hardware circuit of the whole setup.

Fig.19 No Fault in track so vehicle continues moving forward

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 Fig.20 Vehicle stops on Fault detection

Fig.21 Latitude, longitude, date and time of the crack through GPS and GSM

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 CHAPTER 5

CONCLUSION
5.1 CONCLUSION:

The main aim of this study is to replace the manual method of crack
detection of railway using robotic crack tracing system. The system simulation
was done using Proteus software. The hardware was designed and implemented
using simple components inclusive of an Arduino board interfaced to IR
sensor, motor, SIM808 having GSM and a GPS modules. The system is robust
and cost effective, it is convenient in regions where manual inspection is hard
and requires a lot of effort like in mountain areas, dense forests and far regions.
The system with its both software and hardware sides has been tested and
results are presented. On considering the results, the system is found to work
effectively. If the system is applied in railways, it will save a lot of time
compared with the traditional detection techniques, since it is completely
automated. Monitoring the condition of tracks is done with fewer chances for
error to occur, hence preventing train accidents to a very large extent.

5.2 FUTURE SCOPE:

Through the implementation of this study, there are some points that
may be taken as suggested for future works, which are summarized as follows:

 The proposed vehicle can be constructed robust so that the

vehicle can be prevented from accidents.
 In the future, it can also be interfaced with IOT device, which
will give message to the every train coming on that route if there
is fault in the track.
 The design of vehicle can be improved by incorporating camera
so that visual inspection of railway track is feasible.

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 APPENDIX
CODING :

#include <DFRobot_sim808.h>

#include <sim808.h>

#define MESSAGE_LENGTH 160

char message[MESSAGE_LENGTH];

int messageIndex = 0;

char MESSAGE[300];

char lat[12];

char lon[12];

char wspeed[12];

char phone[16]="+919003837035";

#define S_RX 2 // Define software serial RX pin

#define S_TX 4 // Define software serial TX pin

SoftwareSerial SoftSerial(S_RX, S_TX); // Configure SoftSerial library

DFRobot_SIM808 sim808(&SoftSerial);//Connect RX,TX,PWR,

int sensor_in = 7;

int motor_in1 = A0;

int motor_in2 = A2;

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void setup(void) {

pinMode(sensor_in, INPUT);

pinMode(A0, OUTPUT);

pinMode(A1, OUTPUT);

pinMode(A2, OUTPUT);

pinMode(A3, OUTPUT);

digitalWrite(A1,LOW);

digitalWrite(A3,LOW);

// Serial.begin(9600);

SoftSerial.begin(9600);

//******** Initialize sim808 module *************

sim808.init();

// delay(3000);

SoftSerial.println("AT+CGPSPWR=1\r");

digitalWrite(A0,HIGH);

digitalWrite(A2,HIGH);

delay(100);

void loop() {

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 if(digitalRead(sensor_in)==1)

digitalWrite(A0,LOW);

digitalWrite(A2,LOW);

sim808.attachGPS();

// delay(1000);

while(!sim808.getGPS())

sim808.detachGPS();

SoftSerial.println("AT+CMGF=1\r"); //Sets the GSM Module in Text

Mode

SoftSerial.println("AT+CMGS=\"+919003837035\"\r"); // Replace x with

mobile number

delay(2000);

SoftSerial.println("Crack detected at ");

SoftSerial.print("Latitude =");

SoftSerial.print(sim808.GPSdata.lat);

SoftSerial.println("\r\n");

SoftSerial.print("Longitude =");

SoftSerial.print(sim808.GPSdata.lon);

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 SoftSerial.println("\r\ndATe:");

SoftSerial.print(sim808.GPSdata.year);

SoftSerial.print("/");

SoftSerial.print(sim808.GPSdata.month);

SoftSerial.print("/");

SoftSerial.print(sim808.GPSdata.day);

SoftSerial.println("\r\nUTI TIMe:");

SoftSerial.print(sim808.GPSdata.hour);

SoftSerial.print(":");

SoftSerial.print(sim808.GPSdata.minute);

SoftSerial.print(":");

SoftSerial.print(sim808.GPSdata.second);

SoftSerial.print("\r\n");

float la = sim808.GPSdata.lat;

float lo = sim808.GPSdata.lon;

dtostrf(la, 6, 2, lat); //put float value of la into char array of lat. 6 = number
of digits before decimal sign. 2 = number of digits after the decimal sign.

dtostrf(lo, 6, 2, lon); //put float value of lo into char array of lon

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 SoftSerial.print("\nhttp://maps.google.com/maps?q=loc:");

SoftSerial.print(String(sim808.GPSdata.lat));

SoftSerial.print(",");

SoftSerial.print(String(sim808.GPSdata.lon));

SoftSerial.println((char)26);// ASCII code of CTRL+Z

delay(100);

digitalWrite(A1,LOW);

digitalWrite(A3,LOW);

} }

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 REFERENCES

1. Saurabh Srivastava, Ravi Prakash Chourasia, Prashant Sharma, Syed

Imran Abbas, Nitin Kumar Singh, “Railway Track Crack detection
vehicle”, IARJSET, Vol. 4, pp-145-148, Issued in 2,Feb 2017.

2. Pravinram, Prasath, Nanda Gopal, Haribabu, “Railway Track Crack

Detection Robot using IR and GSM”, International Journal for Scientific
Research and Development, Vol. 4, pp-652-657,Issued in 02,2016.

3. Rennu George, Divya Jose, Gokul T.G., Keerthana Sunil, Varun A.G,
“Automatic Broken Track Detection Using IR Transmitter and
Receiver”, International Journal of Advanced Research in Electrical,
Electronics and Instrumentation Engineering, Vol.4, pp-2301-2304,
Issued in 4,April 2015.

4. Utkarsh Mishra, Vistar Gupta, Syed Mohd. Ahzam, and Shiv Mani
Tripathi, “Google Map Based Railway Track Fault Detection Over the
Internet”, International Journal of Applied Engineering Research,
Vol.14, pp. 20-23, Issued in 2, 2019 .

5. Dr.B.Paulchamy,T.Sivamani,S.Viswanathan,.R.Sugumaran,M.Ramados,
S.Sakthivel "Automated visual inspection of detecting cracks and
obstacles on rail road track using robot and automatic gate control"
international journal of innovative research in technology & science |
volume 4, Issued in 2,March 2016

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