Robotic Arm for Surveillance

ABSTRACT

The scope of this project is to develope a system for the continuous surveillance and to monitor
remote areas with the Tele robotic mechanism to visualize the situation happened in remote areas
with internet based communication with the concept of controlling a Tele robotic system with
web server to operate with a webpage based controlling automation system. Robotics has useful
features and scope in our day to day life. It can make our life easy and fast. But in real life
interaction between man and robot-like household or workplace creates a new question about the
controlling the robot. It is quite impossible to command a robot through a keyboard or interfaces
like this. The problem can be solved by using operating system like raspberry pi and also by
using IOT. Raspberry pi has the fastest processor (CPU: quad core 64-bit arm cortex A53
clocked at 1.2GHz) than other processors IOT makes robotic vehicle able to monitor through
internet from anywhere. IOT based vehicle has a web camera and a robotic arm mounted on it
for hold the camera and moves 90 degree. Python is used as programming language to take thr
enemy picture and fire automatic, also send the picture to cloud for storage and monitoring.
Arduino Nano is used to control the robotic vehicle automatic and web camera movement. This
robotic is fabricated to use in border area (military) in ourcountry.

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Robotic Arm for Surveillance

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 Table of Contents
Chapter1:INTRODUCTION...........................................................................................................................8
Robotics..........................................................................................................................................................8
1.2HARDWARE AND SOFTWARETOOLS USED
RaspberryPi..................................................................................................................................9
WebCam.…..…………………………………………………………………………………11
OPERATINGSYSTEM......................................................................................................................................12
DCGEARMOTOR............................................................................................................................................12
SERVOMOTOR..............................................................................................................................................14
PYTHON....................................................................................................................................16
OPENCV....................................................................................................................................16
FIREBASE..................................................................................................................................17
ARDUINO NANO...........................................................................................................................................17
1.3SELECTIONOF MICROPROCESSOR....................................................................................................19
Chapter 2 :LITERATURESURVEY................................................................................................................21
Chapter 3 : DESIGNANDIMPLEMENTATION..............................................................................................27
FunctionalBlockdiagram..............................................................................................................................27
UltrasonicObstacleDetection.......................................................................................................................28
Installing Raspbian onRaspberryPi..............................................................................................................30
Image ProcessingwithOpenCV.....................................................................................................................30
Installing LibrariesandPackages....................................................................................................................30
FaceDetection...............................................................................................................................................31
FLOWCHARTS................................................................................................................................................34
Chapter 4 :RESULTS...................................................................................................................................39
Chapter5:CONCLUSION.............................................................................................................................42
Conclusion....................................................................................................................................................42
FUTURESCOPE...............................................................................................................................................42
REFERENCES..............................................................................................................................................43
APPENDIX..................................................................................................................................................44
LIST OF FIGURES AND TABLES
Figure 1.1:Raspberry pi.................................................................................................................10

Figure 1.2 Interfcing web cam withRaspberrypi...........................................................................11

Figure 1.3 GearedDC Motor..........................................................................................................13

Figure 1.4 SeriesDC Motor............................................................................................................14

Figure 1. 5Servo motor..................................................................................................................16

Figure 1. 6 ArduinoNano specifications........................................................................................18

Figure 1.7 ArduinoNanoPinout......................................................................................................19

Figure 3.1Block diagram...............................................................................................................27

Figure 3.2 : Ultrasonicsensor working..........................................................................................29

Figure 3.3Ultrasonicsensor............................................................................................................29

Figure 3.4 Haar cascadeBasic principle.........................................................................................32

Figure 3.5 Haar cascadealgorithm working..................................................................................33

Figure 3.6 CreatingSub windows..................................................................................................33

Figure 3.7 : Pattern ofobstacle avoidance.....................................................................................34

Figure 3.8: Flow chart of DC motor andServo motor...................................................................35

Figure 3.9 Flow chartofWebcam..................................................................................................36

Figure 3.10 3 stages offacedetection............................................................................................37

Figure 3.11 Flow chart ofGoogle Firebase...................................................................................38

Figure 4.1 DCMotor connection....................................................................................................39

Figure 4.2 RobotSide view…........................................................................................................40

Figure 4.2 RobotTop view….........................................................................................................41

 Chapter 1
INTRODUCTION

Robotics
Robotics is one of the important fields in the concern of industrial usage and daily life and the
robotics may effect on the various fields in the technological manipulations and that can be
intelligent with advancement of various areas like sensors, memories. The early robots are
controlled through Infrared Technology, but later the advancement areas in the technology to
lead robotics as embedded to the fields of service, security and safety. They can be vastly used in
the distributed computer systems, surveillance cameras and these robotic intelligent systems can
be used till now in the pick and place, combining subsystems and these systems can be used
where the hazardous places to complete the works where human can affect by that work
environments. As many of researchers are interested on web-based robotics as these are very
new interest. It became an open research to all web based robotics unless for operating in
hazardous environments that are traditional tele-robotic areas, Internet robotics has opened up a
completely new range of virtual world applications, namely tele manufacturing, tele-training,
tele-surgery, museum guide, traffic control, space exploration, disaster rescue, house cleaning,
and health care. Automated video monitoring is an important research area in the commercial
sector aswell.
With the popularity of internet, users can start thinking with widespread of technology
advancement to usage of network related applications. Also, users can spent more time on
internet compared to their sleep also. It can reflect the design such as applications for purpose of
remote surveillance and can reduce the hazardous work environment to humans. Imagine the
case where the robot is controlled with remote area accessing through webpage is the
advancement of such, technically improve the tasks of controlling from remote end. In the
robotic field, tele robotics is such a wonderful platform to improve the usage of robotics in every
field. Here, tele robotics is the mechanism of controlling a mobile robot with web server to
corresponding visual feedback approach methodology. The Tele-Robotics is the combining a
robotic arm and web server with real time visualization of range of distance-based applications.
Tele-operation can be effect to improve robotics vastly improve or enhance the quality orvalue
 ofthe range of practical use or relevance. Tele-robotics is referred to control a robot from remote
end. Robotics are used in the field of space, underwater, power plants, hazards handling and
medicine. One way of controlling robots through wirelessly by ZigBee technology and Radio
frequency. But robot cannot be controlled from remote end. Another method of robotic arm
controlled by the haptic technology and it is also referred as tactile feedback technology. This
technology is expensive because haptic devices are costlier.
A web server is setup on the single board computer named Raspberry Pi, a web camera is used to
take picture in border area, fire automatic also send for firebase for monitoring from remote end.
The latest incarnation of the Raspberry Pi, 4 is used here. The Raspberry Pi foundation recently
launched the last evolution of the original Raspberry Pi called 'The new Raspberry Pi 4. This
Raspberry Pi 4 has 26 GPIO Pins. L293 motor driver used for auto controlling robot and Arm .

HARDWARE AND SOFTWARE TOOLSUSED

RaspberryPi

Raspberry pi OS is used for making robot wireless and web based. Web cam is interfaced with
Raspberry Pi and then videos are transmitted wirelessly from the robotic vehicle to the user’s
monitor, from where the user can monitor the status of the robotics. Raspberry pi is connected
with the wi-fi which enables raspberry pi to transmit signal over the web network .Raspberry pi
uses SD card for memory and booting because it doesn’t have inbuilt storage. It is powered
through USB cable and requires 5V power supply and 700-1000 mA current. It operates at 1.2
GHz. Python is used as a programming language to write code into Raspberry pi.

Introduction to Raspberry Pi

Raspberry Pi is low cost credit card sized single board computer. It packs enough power to run
games, word processor like open office, image editor like Gimp and any program of similar
magnitude. Pi is based on a Broadcom SoC (System of Chip) with an ARM processor, a GPU
and 256 to 512 MB RAM. It uses SD card for booting because it has no hard disk for storage, SD
card reader is used to image the OS system. 5V power supply is needed through USB cable,
displaysinformationonTV/monitorwithDVI/HDMIport,HDMIcableorHDMItoDVI
converter cable is used as display connector, USB mouse/keyboard is used as input, Ethernet
cable is used as network connector.

Raspberry Pi 3b

The speed and performance of the new Raspberry Pi 4 is a step up from earlier models. For the
first time, we've built a complete desktop experience. Whether you're editing documents,
browsing the web with a bunch of tabs open, juggling spreadsheets or drafting a presentation,
you'll find the experience smooth and very recognisable — but on a smaller, more energy-
efficient and much more cost-effective machine.

Figure 0.1.1: Raspberry pi

Specifications

 Broadcom BCM2711, Quad core Cortex-A72 (ARM v8) 64-bit SoC @1.5GHz
 1GB, 2GB or 4GB LPDDR4-3200 SDRAM (depending onmodel)
 2.4 GHz and 5.0 GHz IEEE 802.11ac wireless, Bluetooth 5.0,BLE
 GigabitEthernet
 2 USB 3.0 ports; 2 USB 2.0ports.
 Raspberry Pi standard 40 pin GPIO header (fully backwards compatible with previous
boards)
 2 × micro-HDMI ports (up to 4kp60supported)
 2-lane MIPI DSI displayport
 2-lane MIPI CSI cameraport
 4-pole stereo audio and composite video port
 H.265 (4kp60 decode), H264 (1080p60 decode, 1080p30encode)
 OpenGL ES 3.0graphics
 Micro-SD card slot for loading operating system and datastorage
 5V DC via USB-C connector (minimum3A*)
 5V DC via GPIO header (minimum3A*)
 Power over Ethernet (PoE) enabled (requires separate PoEHAT)
 Operating temperature: 0 – 50 degrees Cambient

 A good quality 2.5A power supply can be used if downstream USB peripherals consume
less than 500mA in total.

1.2.2 WebCam

Figure 1.0.2 Interfcing web cam with Raspberry pi

 Robotic arm forsureveillance

Operatingsystem

Raspberry pi essentially uses linuxkernel based systems software, but ARM11 can’t be working
on the popular versions of linux includes ubuntu. Now Raspberry Pi developers can suggest the
some supportive software i.e., NOOBS. The NOOBS can include Archlinux ARM, pidora,
puppy linux, Raspbian but depending on user’s choice exclude the software from Noobs and that
can acts as operating system. Raspbianlinux operating system is recommended for the robotic
applications. Raspbian can be extracted as a image file to write on SD card. SD card can be used
as a image file reader and can convert to read image file through SD card Formatter. After
completing the formatting, the image file of operating system can be read through win32 Disk
imager.

DC gear motor

Introduction
10RPM Centre Shaft Economy Series DC Motor is high quality low cost DC geared motor. It
has steel gears and pinions to ensure longer life and better wear and tear properties. The gears are
fixed on hardened steel spindles polished to a mirror finish. The output shaft rotates in a plastic
bushing. The whole assembly is covered with a plastic ring. Gearbox is sealed and lubricated
with lithium grease and require no maintenance. The motor is screwed to the gear box from
inside.
Although motor gives 10 RPM at 12V but motor runs smoothly from 4V to 12V and gives wide
range of RPM, and torque. Tables below gives fairly good idea of the motor’s performance in
terms of RPM and no load current as a function of voltage and stall torque, stall current as a
function of voltage.

For compatible wheels refer to Wheels and Accessories product category.

You can also mount this motor on the chassis using Motor Mount for Centre Shaft
EconomySeries DC Motor

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 Robotic arm for sureveillance

For adding Position Encoder, refer to Encoder Kit for Centre Shaft Economy Series DC Motor

Specifications

 DC supply: 4 to 12V
 RPM: 10 at 12V
 Total length:46mm
 Motor diameter:36mm
 Motor length:25mm
 Brush type: Preciousmetal
 Gear head diameter:37mm
 Gear head length:21mm
 Output shaft:Centred
 Shaft diameter:6mm
 Shaft length:22mm
 Gear assembly: Spur
 Motor weight:100gms

Inside view of Centre Shaft Economy Series DC Motor

Figure 1.0.3 Geared DC Motor

Motor Mounting Clamp and Position Encoder Kit for Centre Shaft Economy Series DC Motor
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Figure 1.0.4 Series DC Motor

Motor performance in terms of RPM and no Motor performance in terms of RPM and no
load current as a function of input voltage Note: Motors’s data can vary by ±10%

Voltage (V) RPM (No Load) Current (A)

4 12.4 0.023
5 13.4 0.024
6 13.9 0.025
7 14.2 0.026
8 14.5 0.027
9 14.7 0.027
10 15 0.028
11 15.2 0.029
12 15.4 0.030

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 Robotic arm forsureveillance
load current as a function of input voltage

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 Robotic arm forsureveillance
Voltage Stall torque Stall Current
(V) (Kg/cm) (A)
4 1.999 0.101
5 2.644 0.132
6 3.139 0.157
7 3.332 0.170
8 3.526 0.216
9 3.689 0.240
10 3.999 0.262
11 4.368 0.288
12 4.730 0.314

Servo motor
A Servo motoris a rotary actuator that allows for precise control of angular position, velocity
and acceleration. Servos are found in many places: from toys to home electronics to cars and
airplanes. If you have a radio-controlled model car, airplane, or helicopter, you are using at least
a few servos. Servos also appear behind the scenes in devices we use every day. Electronic
devices such as DVD and Blu-ray DiscTM players use servos to extend or retract the disctrays.

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 Robotic arm for sureveillance

Servo vs PWM

PWM stands for Pulse Width Modulation. PWM is the process of turning ON and OFF digital
voltage quickly to simulate a range of voltage. For example... If the digital output pin of a micro
is 3.3v, and the PWM is set for a 50% duty cycle, the output voltage would be approx 1.65v.
This is because the microcontroller is turning ON and OFF the digital 3.3v pin real quick, which
is producing a simulated lower voltage. You can use PWM to vary the brightness of an LED, for
example.

A servo uses PWM as well. The "frame" of a servo PWM signal is 20ms. Many controllers, such
as Arduino libraries do not maintain the 20ms specification defined for servos. Because of this,
challenges have been introduced to servo manufacturers when decoding incoming PWM signals.
This has caused the need for servos to be "Smarter" by adapting to the unusual PWM transmitted
by poorly written libraries which do not adhere to the servo PWM Standard. The EZ-B does
adhere to servo PWM standards.

How does a servo motor work

The simplicity of a servo is among the features that make them so reliable. The heart of a servo is
a small direct current (DC) motor, similar to what you might find in an inexpensive toy. These
motors run on electricity from a battery and spin at high RPM (rotations per minute) but put out
very low torque (a twisting force used to do work— you apply torque when you open a jar). An
arrangement of gears takes the high speed of the motor and slows it down while at the same time
increasing the torque. (Basic law of physics: work = force x distance.) A tiny electric motor does
not have much torque, but it can spin really fast (small force, big distance). The gear design
inside the servo case converts the output to a much slower rotation speed but with more torque
(big force, little distance). The amount of actual work is the same, just more useful. Gears in an
inexpensive servo motor are generally made of plastic to keep it lighter and less costly. On a
servo designed to provide more torque for heavier work, the gears are made of metal (such as
with EZ-Robot Servos) and are harder todamage.

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Figure 1.5 Servo motor

With a small DC motor, you apply power from a battery, and the motor spins. Unlike a simple
DC motor, however, a servo's spinning motor shaft is slowed way down with gears. A positional
sensor on the final gear is connected to a small circuit board. The sensor tells this circuit board
how far the servo output shaft has rotated. The electronic input signal from the computer or the
radio in a remote-controlled vehicle also feeds into that circuit board. The electronics on the
circuit board decode the signals to determine how far the user wants the servo to rotate. It then
compares the desired position to the actual position and decides which direction to rotate the
shaft so it gets to the desiredposition.

Python

Python is a broadly utilized abnormal state programming dialect for universally useful
programming. Translated dialect, python has an outline theory which underlines code coherence
(quite utilizing white space to delimit code squares as opposed to wavy props or catch phrases),
and a sentence structure which enables developers to express ideas in less lines of code than
conceivable in dialects, e.g. c++, java. The dialects gives builds planned to empower composing
clear projects on both a little and expansive scale.

Opencv

OpenCV (open source computer vision) is a library of programming capacities for the most part
gone for ongoing pc vision. Originally created by Intel’s exploration focus in Nizhniy Novgorod
(Russia), it was later upheld by willow garage and is presently kept by Itseez. The library is
cross-stage and free for use under the open source BSD permit.
 Firebase

Firebase is a mobile and web application development platform developed by Firebase, Inc. in
2011, then acquired by Google in 2014.As of March 2020, the Firebase platform has 19
products, which are used by more than 1.5 million apps. The various services provided by the
FireBase are:

 GoogleAnalytics
 Firebase CloudMessaging
 FirebaseAuthentication
 Firebase RealtimeDatabase
 CloudFirestore
 FirebaseStorage
 FirebaseHosting
 ML Kit

Arduinonano
The Arduino Nano is a small, complete, and breadboard-friendly board based on
the ATmega328PThe Arduino Nano is programmed using the Arduino Software (IDE), our
Integrated Development Environment common to all our boards and running both online and
offline.The Nano board weighs around 7 grams with dimensions of 4.5 cms to 1.8 cms (L toB).

The Nano board doesn’t have a DC power jack as other Arduino boards, but instead has a mini-
USB port. This port is used for both programming and serial monitoring. The fascinating feature
in Nano is that it will choose the strongest power source with its potential difference, and the
power source selecting jumper is invalid.
Figure 1.6 Arduino Nano specifications
Figure 1. 7 Arduino Nano Pinout
 Selection ofmicroprocessor

Raspberry Pi is a Microprocessor and it is not microcontroller. It is a mini computer with GPU,

Wifi, etc….Raspberry Pi cannot run on it’s own it needs Operating System to perform tasks.
Here, the operating systems include RaspbianOS,Windows 10 IoT Core, Debian and so on.

A microcontroller is best used for simple repetitive tasks: opening and closing a garage door,
reading the outside temperature and reporting it to Twitter, driving a simple robot.

Raspberry Pi is best used when you need a full-fledged computer: driving a more complicated
robot, performing multiple tasks, doing intense calculations (as for Bitcoin or encryption)
Pi is faster than Arduino by 40 times in clock speed. Pi has ram 128000 times more
than Arduino.So Raspberry Pi is more powerful than Arduino. Arduino has 32kb of storage on
board. This is used for storing the code.hence to ease the process of computing and running
advanced algorithms Raspberry Pi is the bestchoice.
Chapter 2
LITERATURE SURVEY

M. Meena 1, P. Thilagavathi (2013)

The surveillance robot is widely used in mostly applications like industrial application
(automation), home automation, hospitals, space exploration; military (defence) etc for this
purpose continuous surveillance is required. In this study automatic docking system (ADS) is
purposed with recharging and battery replacement process. The robot can return ADS whenever
battery is low. The charging duration is important regarding this to overcome this difficulty
battery replacement is a better solution. The robot can come to ADS when battery is low and get
replaced with new battery within 30 seconds, so that the robots need not to be turned off
whenever replacement is there. System design can work in three modes: (1) patrolling mode (2)
first response modes (3) remote control mode whenever voltage level of ion battery is below the
threshold level a message is sent to docking station. After receiving message robot automatically
moves to the docking station. There are two units to check whether the robot enters to docking
station, one is I sensor and other is electrode unit on the oscillating bar. With this design it only
takes 30 seconds to accomplish the battery exchanging process. [1]

K.Aruna, A.SriRamsagar, G.Venkateswarlu(2013)

Robot is controlled by a mobile phone that makes a call to the mobile phone attached to the
robot. In this call if any key is pressed corresponding tone is heard at the other end of the call by
using dual tone multiple frequency (DTMF). The robot perceives the DTMF tone with the help
of phone stacked in it. The received tone is processed by the atmega32 microcontroller with the
help of DTMF decoder MT8870. Decoder decodes the DTMF tone into its equivalent binary
digit and this binary digit is send to micro controller. The microcontroller is pre-programmed to
take decision for any input or output to motor drivers for forward, backward motion or return.
The primary function of the mobile operated robot with DTMF decoder is to move that places
where man can’t move. The robot perceives the DTMF tone with the help of phone stack in the
robot. [2]
MayankDharaskar, Vatan Gupta, Priyanka Kale, ReetaChopade,
AayushJaiswal, Prof. SharadkumarGhadale (2016)
This study is base on IOT based robotic car which uses raspberry pi, USB camera, two dc motors
and robotic chassis to built this robotic car setup. It has a web camera mounted over it, through
which we can get live video feedback and interesting part is one can control it from the web
browser using internet. A page is built in HTML which has left, right; backward, forward links
by clicking the links one can move it in any direction. Two terms are used one motion and other
flask motion for getting live video signal from USB camera and flask for sending commands to
raspberry pi using python to move the robotic vehicle. The web cam will capture the live data
and then send to desired device through internet and the user will be observing this data on the
monitor at the usersend.
L298N motor driver can control two dc motors at a time so it is easy to use it. SSH is secured
shell without it raspberry pi wouldn’t be detected by windows. With the help o raspberry pi the
range of operation of robotic car is not limited it can remote large areas. One can easily control
as well as monitor the activity of the robotic unit.[3]

Dr. Shantanu K. Dixit, Mr. S. B. Dhayagonde (2014)

This study helps us to detect living bodies with the help of PIR sensor and to control the robot
with the help of internet. The camera mounted robot is able to move horizontally and vertically
around its vertical axis. Camera movement is controlled through the webpage by the user and
providing with enhanced view of the surroundings. PIC 16F877 is used for controlling dc motors
which is used for collecting data from PIR sensor for detecting living being. This technology
gives helping hand to our security forces for detecting intruders. Also, used in finding the injured
persons during disasters such as earthquakes, collapsing of buildings, in mining fields and can be
used as a spy robot. [4]

AaruniJha, Apoorva Singh, RavinderTurna, SakshiChauhan (2015)

This is RF based spying robot attached to wireless camera that can reduce human victim. This
robot sends signal to the base station using wireless camera. Android phone is used to control the
movement of the robot. The robot sends the signal to RF receiver mounted on the robot via RF
transmitter at the base station, with this feature robot can transmit real time videos with night
vision capabilities and can’t be identified by the enemies. It uses 8051 microcontroller which
controls the motor and wireless camera as well as receiver and transmitter unit. The aim of the
paper is to view things accurately that are happening in the surrounding area, to all this control is
needed where controls RF signals are used. By using this signal encoding is done and signal is
sent to the transmitter which gives input to drive the motor it is used as short distance spy robot.
[5]

MdNorozzamanJiko, MahmudulHasanShayket, AshrafulGhaniBhuiyan, and

GolamRabby (2016)
This paper represents rescue robot which can run on any rough surface including staircase. It can
also floats on water as well as dive under water. IOT based rescue robot uses new technology
which makes it unique. As it is IOT based so it can be easily monitored by android or computer.
For sensing environment various sensors are installed in it. Its flexible structure provides it to be
modified and updated for expanding it to be used in various applications. There are six wheels in
total, using V-belt as tank tracks, made from ebonite sheet (wheels).three servo motors and six dc
motors are used. Arduino controller is used to control the motors. A Bluetooth module HC-05 is
connected with Arduino controller to communicate with the smart phone. Temperature sensor,
pressure sensor, humidity sensor and gas sensor are connected with Arduino controller to sense
the environment. Two Li-Po batteries are used one for driving motor and other for powering the
Arduino controller. Two android phones are used one placed at the front and other inside the
robot. In this amphibious robot smart technologies are used for communication via internet. It
can run on the rough surface, staircase, underwater and on water.[6]

Kena Patel and Bhavna K. Pancholi (2017)

This project is designed to develop a fire fighting robotic vehicle using android application.
Robotic vehicle is loaded with water tanker and a pump which is controlled by wireless
communication to sprinkle water to extinguish fire. An AVR Atmega-32 is used for desired
operation. Remote operation is achieved by any smart phone/tablet etc with android OS, upon a
GUI based touch screen operation. Android is using XML and functioning is defined in JAVA .
It has mainly two modules (1) navigating module (2) fire extinguisher module. Navigating
module (transmitter) is used to navigate robotic vehicle, it consists of android phone with
android application. Fire extinguisher module is a whole fire fighting robotic vehicle (receiver)
which has water sprinkler to extinguish fire. Next part of fire extinguishing module is to detect
flame which detects flame near to robotic vehicle. Feature of obstacle detection is added whichis
use to protect the robotic vehicle from obstacle. Upon both of above inconvenience alert is given
the form of buzzer. The developed system decreases risk factor involved in job of fire fighting.
[7]

Satish Kumar Ojha, Vishal Singh, Priyank Sharma, Swaraj Dash (2017)
This is a system for unmanned mission which will help in exploration of viable planetary options
that can support human life. The project has two robotic systems: base station and rover the base
station is already docked on the planet and rover is unmanned mission sent to planet. It involves
wireless communication between two systems. This automated technology helps in reducing risk
of human lives but also reduces cost of space mission. Base station is coded with embedded c
upon Arduino IDE when base station boots up it connects to the wifi network under MQTT
broker hosted by raspberry pi. An input supply of 5V and 2A is provided to raspberry pi from
6000 mAhpowerbank operating for two hours. Camera on pi draws a power of 1250 mw. [8]

SupanthaMandal, Suraj Kumar Saw, ShilpiMaji,Vivek Das ,

SravanthkumarRamakuri, Sanjay kumar (2016)
This paper focus on path following two wheeled compact portable robot using Arduino as central
driving functional unit with wifi control and Bluetooth module with collision detection
avoidance and control features which provides unique ability of danger avoidance , falling from
a height with improved stability and precision control. The design is integrated with infrared
sensors, bluetooth module, and wifi module control with dc gear motors which controls the speed
of vehicle and avoid collision in the path of the robot. A low cost robust portable design using
GUI control has been implemented with advanced features which makes it very unique and
attractive for commercial productions. [9]

Kevin I-Kai Wang, Opender Singh, Eu-Lee Teh, Kean Aw (2016)

This study seeks to address the issues by developing an untethered unmanned ground vehicle
with a multitude of sensors to map its 3D path coupled with GUI to fascillatetwo way
communications with raspberry pi micro controller. In this paper wireless communication is
achieved by TCP over a wifi connection. Dead reckoning has been used as a technique to process
proprioceptive sensor data. The raspberry pi is an OTS (open testing data) was chosen as
microcomputer for this study because of its superiority. Motor controls are done with the help of
python script which uses motor controller and sensors onboard vehicle. In the followingresearch
a prototype of 3D terrain mapping vehicle that can make its own path was successfully
developed using off the shell components. A sensible 3D path of vehicle was successfully
constructed by combining multiple sensor data including odometry, pitch angle and heading of
the vehicle.[10]

Mohammad Salah Uddin and Mario Gianni (2017)

This study introduces a long range internet connected robot teleoperation system based on
internet of things (IOT). The aim of study is to support operators during remote teleoperation of
robotic systems in situations where operators loose connections due to damaged caused to that
particular vehicle. IOT allows connecting remote and mobile things or machines. It also assets
through the use of wireless communication and low cost sensors, computing and storage devices.
System architecture consists of a pioneer 3AT mobile robot endowed with a notebook computer.
It is connected to computer via USB serial port. The notebook is connected to internet via 4G
modem. Internet connection is also mandatory since we are interesting in controlling robot via
IOT. On top of ROS architecture an application that receives command from IOT cloud and convert them
to velocity commands for robot. It reduces the cost of deployment currently it moves blindly to some
extent. [11]

Mr. Lokesh Mehta, Mr. Pawan Sharma (2014)

This paper reveals it as a spy robot which is controlled by keyboard of the computer. It can give
live telecast of audio and video signals from surroundings and can be sent to remote station by
RF signal and also able to give signal whenever there is darkness in the surroundings because it
has extra circuitry which detects darkness and automatic flash light is on. Its maximum range is
200 meters. When a key is pressed from the keyboard of monitor it firstly converts the signal into
machine language by Arduino board through USB port represents it as cmos logic. Now signal
from Arduino board is converted into RF signal by RF module. At the remote section signal is
received from RF module in the form of radio frequency which is converted into binary. From
RF module, signal is transmitted to microcontroller, which makes the decision according to
command described in programming. Ultrasonic sensor detects the distance and data sent to
microcontroller output is generated as per decision of the microcontroller and display on
LCD(16x2)andalsodisplaysonLCDmonitorandLDRdetectsthelightusingmicrocontroller
makes a decision either flash light is off or on. Following favourable results are based on robot as
live telecast, night vision, obstacle detector and distance measurement. [12]

Mohammed RubaiyatTanvirHossain,Md. Asifshahjalal, NowrozFarhan

Noor(2017)
In this paper web controlled partial robotic vehicle system is purposed. The idea is to control a
robotic vehicle from any where through Internet over a secured web server. The main purpose is
to minimise the risk of human life and ensure high safety during drive. The car can be remotely
control through Internet using web server, in case of no connectivity it can act autonomously
depending on good weather condition. Purposed study consists of complex computer vision
algorithms and live transmission of video with the internet. Raspberry Pi and Arduino are used to
built this prototype. Raspberry Pi streams the video to internet. A user can access the streaming
video through internet. Although Raspberry-Pi is a powerful tool yet we need more powerful tool
to implement this idea on a real car. [13]
 Chapter 3
DESIGN MODELLING AND SIMULATION

Functional Block diagram.

Figure 3.1 Block diagram

The Raspberry Pi is connected via cloud known as firebase (Google firebase). Web camera is
used for the purpose of visual feedback to control robotic arm through webpage. All are working
according to user inputs with a network medium. We make of raspberry pi in order to capture
images using haar cascade classifier, haar cascade classifier is basically an XML file where used
for face detection purpose. So, if the robot detects that it is a person the image is send through
Google firebase then further it is been sent to the required system. Here we make use of 2
motors,DCgearedmotorandServomotor.DCmotorisusedforlinearmovementandservo
 motor is responsible for angular movement of the robot. Both the motors are controlled by
Arduino NANO where we make use of a motor driver(L293D). The Robot uses Raspberry Pi 4
and an Arduino NANO. Two motors (DC Geared and Servo) are connected to Arduino NANO
which inturn is connected to Raspberry Pi 4. The robot is using DC GEARED motors to move
front or back.The camera is mounted on the servo motor which rotates 180 degree. The laser is
placed on the camera. As we know servo motor is responsible for angular movement. So once
the camera detects a person an interrupt is sent to pin No.2 of Arduino NANO. This interrupt
stops both the motors which were in motion the camera also captures a photo and this photo is
sent to the firebase cloud. The person using firebase cloud decides whether to shoot the target or
not if he chooses "yes" then the Laser is activated and the target is shot. Here we make use of
Ultrasonic sensor for the robot to take deviations as soon as it detects an obstacle. The basic
working of ultrasonic sensor is, they work by emitting sound waves at a frequency too highfor
humans to hear. They then wait for the sound to be reflected back, calculating distance based
on the time required. This is similar to how radar measures the time it takes a radio wave to
return after hitting an object. Ultrasonic sensors are used for distance measuring applications.
These gadgets regularly transmit a short burst of ultrasonic sound to a target, which reflects the
sound back to the sensor. The system then measures the time for the echo to return to the sensor
and computes the distance to the target using the speed of sound within themedium.

Ultrasonic ObstacleDetection
Ultrasonic sensors are used to detect the presence of targets and to measure the distance to
targets in many robotized processing plants and process plants. Sensors with an ON or OFF
digital output are available for detecting the presence of objects and sensors with an analog
output which changes relatively to the sensor to target separation distance are commercially
available. The basic working of an ultrasonic sensor is asfollows:
Figure 3.2 : Ultrasonic sensor working
Ultrasonic obstacle sensor consists of a set of ultrasonic receiver and transmitter which operate at
the same frequency. The point when the something moves in the zone secured the circuit’s fine
offset is aggravated and the buzzer/alarm is triggered. Different sorts of transducers are utilized
within industrially accessible ultrasonic cleaning devices. An ultrasonic transducer is affixed to a
stainless-steel pan which is filled with a solvent and a square wave is applied to it, conferring
vibration energy on the liquid. The most common type of ultrasonic sensor used for distance
measurement is given below.

Figure 3.3 Ultrasonic sensor

Installing Raspbian on RaspberryPi:
Raspbian is the recommended operating system for normal use on a Raspberry Pi. Find help with
installing Raspbian on your Pi in our online Getting started guide. You can browse basic
examples to help you get started with some of the software available in Raspbian, find more
detail about the Raspbian operating system, or read information on fundamental Linux usage and
commands for navigating the Raspberry Pi and managing its file system and users.

Capturing image uses a webcam in Raspberry Pi

To interface a USB camera and Wi-Fi with Raspberry Pi.It also to capture the image.

 Basic image capturingusage.

 Set specify aresolution.
 Set full a resolution with nobanner.
 Bashscript.
 Python with Bashscript.

Image Processing with OpenCV

Visual information one of the most important type of information perceived, processed and
interpreted by human brain. Image processing is a method to perform some operations on an
image, in order to extract some useful information out of it. An image is nothing more than a
two-dimensional matrix (3-D in case of colored images).

Image processing with Python & Open-CV aims at providing an overview of Open-CV
library, itsfunctions, application & capabilities along with getting your hands adept withit. Image
processing basically means performing processes on an image with the help of software. The
goal of applying processes like smoothing, sharpening, contrasting, stretching etc. on an image
can be to increase its readability or to enhance its quality or even transform theimage.

Installing Libraries andPackages

In the above build project, we have used Raspberry Pi model 3 B+ with latest version of
Raspbian having an OpenCV inside virtual environment with OpenCV3 correctly installed init.
 In the new terminal lets enter into the virtual environment:

Inside virtual environment enter Python interpreter and confirm that you are running the 3.5 (or
above) version.

Inside the interpreter import the OpenCV library and check for OpenCVversion which appears
3.3.0 or any superior version.

FaceDetection:
The first step of our project in order to capture a person’s image is to detect it. The most common
way to detect a face (or any objects), is using the Haar Cascade classifier Object Detection using
Haar feature-based cascade classifiers is an effective object detection method proposed by Paul
Viola and Michael Jones in their paper, "Rapid Object Detection using a Boosted Cascade of
Simple Features" in 2001. It is a machine learning based approach where a cascade function is
trained from a lot of positive and negative images. It is then used to detect objects in other
images.Here we will work with face detection. Initially, the algorithm needs a lot of positive
images (images of faces) and negative images (images without faces) to train the classifier. Then
we need to extract features from it. The good news is that OpenCV comes with a trainer as well
as a detector. If you want to train your own classifier for any object like car, planes etc. you can
use OpenCV to create one. If you do not want to create your own classifier, OpenCV already
contains many pre-trained classifiers for face, eyes, smile, etc. This Phase involves capturing of a
set of images which adds to the data set so as to compare the faces which are recognized in phase
3.The most common way to detect a face (or any objects), is using the Haar Cascade classifier.
Object Detection using haar feature-based cascade classifiers is an effective object detection
method. It is a machine learning based approach where a cascade function is trained from a lot of
positive & negative images and OpenCV comes with a trainer as well as a detector.

Figure 3.4 Haar cascade Basic principle

Figure 3.5 Haar cascade algorithm working

Figure 3.6 Creating Sub windows

FLOWCHARTS
 As we enable the Raspberry pi the next immediate task of the robot is to turn on the
motors.
 Here, we make use of 2 sets of motors, DC geared and servomotor.
 The servo motor is responsible for angular rotation and similarly DC motor is responsible
for linear motion of therobot.
 The servo motor rotates 180 degree the wholetime.
 Likewise, the DC geared motor also runs and is responsible for linearmotion.
 Now we initialize the ultrasonic sensor to sensing theobstacles.
 Requirement here is in such a way that every time the ultrasonic sensor detects the
obstacle it turns left since the camera is mounted on the right side of therobot.
 This is done because the requirement is satisfied as it covers an entire region which is
closed area for instance, we can assume a rectangle of a closed loop where is robot is
suppose to guard the entire loop in which is bounded by border in alldirections.
 As the person is detected both the motors stop working, an interrupt is sent to Arduino
(Pin no 2) from the raspberrypi.

Pattern of Obstacle avoidance by ultrasonic sensor

Figure 3.7 : Pattern of obstacle avoidance

 Robotic arm forsureveillance

To understand DC and SERVO Motor operations:

Start

Raspberry Pi
Enabled

R Pi connected to
Internet

Start both the motors

(DC AND SERVO)

Rotate Servo motor to 180 degree the whole time

Initialize ultrasonic sensor and sense for obstacles

Turn left when obstacle detected

The Robot keeps turning left for

every obstacle

Use Webcam to scan the border on the right

Stop

Figure 3.8: Flow chart of DC motor and Servo motor

Page 35
 Robotic arm for sureveillance

To understand Webcam operations:

Figure 3.9 Flow chart of Webcam

Page 36
  After the Raspberry Pi is enabled, it connects to the internet first and two vital
components of the project are theninitialized.
 The first one being the Webcam and the other one is theLASER.
 The Webcam is mounted on the Servo motor which covers an area of 180 degree
continuously.
 The Webcam keeps scanning the area to detect any person on the right side of the robot,
while the robot is patrolling around a plot of land, securing it by continuously taking left
turns and forming a closed loop aroundit.
 Upon the Webcam, resides the LASER which is used to fire when we commandit.
 If the Webcam detects any person trying to trespass, the robot stops right there, i.e., both
the motors stop and a picture is captured which is sent to thefirebase.
 Based on the command received either the LASER shoots the suspect or ignore it and the
robot continues its motion and keepsscanning.

Stages explaining how the Webcam detects a person by collecting a number of

positive and negative images using Haar Cascade classifier.

Figure 3.10 3 stages of face detection

To understand how firebase is interacting with the robot :

Figure 3.11 Flow chart of Google Firebase

Chapter 4

RESULTS AND ANALYS

 Chapter 5:

CONCLUSION
Conclusion
This paper describes an automatic controlled robotic and robotic arm from webpage with
continuous surveillance of actions done by the tele robotic arm. Mobile robot connected through
wireless dongle or Wi-Fi and the telerobotic can be visualize the acknowledgement with
continuous response from remote end with monitoring via webpage. Also, use port forwarding
methodology to use anywhere. In future work by making this project with extension of GPS to
navigate based on the locations given through the network, we can move tele robot to the
multipurpose actions among remote surveillance.
In this project we used raspberry pi working on Raspbian OS. As the communication is done
with the help of internet so limitation of range of operation does not arise and thus we can
monitor any remote areas. One can easily monitor as well as control the activity of the robotic
unit.

FUTURESCOPE:

There are lots of improvements that can be made on the current design and technology and lots
of additional feature scan be added. We can use different types of sensor so that we can use robot
in different field i.e. Temperature Sensor, Pressure Sensor, Heat Sensor, Position Sensor,
Proximity Sensor. A multipurpose robot can be made by wireless network, ranging from
surveillance and home security to industrial applications where the user need not be present at
the work place in person but can do it from his home itself.
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[3] Technologies, Proceedings published in “International Journal of Computer Applications”,
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