The van was hired on a contract by the 'Acho spandana Bala Nyaya mandali', an orphanage of Belugola, and the occupants were on their way to a nearby canal for washing clothes, police said.
The van fell when the driver was reversing the vehicle, they said.
The deceased have been identified as Narasimha, the driver, sister Nithya (40), Warden Sneha (25), cook Payadamma (42) and Joseph (10) and Raju (11).