UNMANNED SURVEILLANCE VEHICLE REMOTELY CONTROLLED BY ANDROID APPLICATION

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1 International Journal of Mechanical Engineering and Technology (IJMET) Volume 9, Issue 11, November 2018, pp , Article ID: IJMET_09_11_057 Available online at ISSN Print: and ISSN Online: IAEME Publication Scopus Indexed UNMANNED SURVEILLANCE VEHICLE REMOTELY CONTROLLED BY ANDROID APPLICATION Venugopal P Assistant Professor (Senior), School of Electronics Engineering,Vellore Institute of Technology, Vellore(TN),India, venugopal.p@vit.ac.in Vemparala satya naga chandra mouli B.Tech student, Department of ECE, Vellore Institute of Technology,Vellore(TN),India Sayantan Kundu B.Tech student, Department of ECE, Vellore Institute of Technology,Vellore(TN),India I V G Sai Dheeraj B.Tech student, Department of ECE, Vellore Institute of Technology,Vellore(TN),India Shaik abdul mushahir B.Tech student, Department of ECE, Vellore Institute of Technology,Vellore(TN),India ABSTRACT This paper describes the development of an autonomous robotic vehicle for distributed surveillance under Unmanned Surveillance Vehicle project. The primary aim of our project is to develop novel mobile and unattended ground sensor platforms that will extend the sphere of awareness and mobility for different applications. The project is focused on developing efficient perception, sensor fusion, heterogeneous swarm technologies, distributed command and control, and task decomposition.unmanned Surveillance Vehicle is a robot capable of conducting surveillance in areas where human cannot reach or are not permitted. Unmanned Surveillance Vehicle is reprogrammable and can be interchanged to provide multiple applications. Our ultimate goal was to develop mobile robotic technologies that extend the sphere of awareness and mobility of an individual or group performing such operations, by increasing sensory "reach", giving the robots a significant degree of autonomy, and provided with the ability to task multiple platforms as a single logical entity. Unmanned Surveillance Vehicle seeks to augment human capabilities, reduce exposure to risk, and present timely, relevant information to the user. Keywords: stacle avoidance, Bluetooth module, Unmanned Surveillance, Arduino Motor control editor@iaeme.com

2 Venugopal P, Vemparala satya naga chandra mouli, Sayantan Kundu, I V G Sai Dheeraj and Shaik abdul mushahir Cite this Article Venugopal P, Vemparala satya naga chandra mouli, Sayantan Kundu, I V G Sai Dheeraj and Shaik abdul mushahir, Unmanned Surveillance Vehicle Remotely Controlled by Android Application., International Journal of Mechanical Engineering and Technology, 9(11), 2018, pp INTRODUCTION With the rapid development of home automation on a Global scale in past few years, mobile robots are increasingly used in home environments [1]. Surveillance robots are widely used in home automation services for example cleaning, security, rehabilitation training, and homecare purposes. Robots and their peripheral equipment become more sophisticated, these systems are increasingly being used for entertainment, military, and surveillance purposes. A remote controlled surveillance robot is defined as any robot which is remotely controlled to capture Images/video for specific purposes. Military robots are self-governing robot which is specially design for military purposes, such system are in research now. [2] Mechatronics (is trying to develop a working automated sentry gun and is currently developing it for commercial and military use that can be operated remotely, and there is another popular one. In the Luo et al. paper we find a [3] concept of recharging station for home robots. These station consists of an automatic recharging device and a robot docking mechanism. In Song et al. paper we find [4] a surveillance robot with automatic docking and recharging capabilities for home security and implement the design of a simple semi circular recharging station. Utilize top notch materials and highly accurate transmissions to get higher speed, accuracy, and durability to work in a wide range of environments. Enhanced power management comes through more advanced fuel cells, newly designed battery and charging systems. Configuring a robot to ascend and descend obstacles in unstructured environments with ease is a design challenge and cost more power. The system should be able to overcome both regularly shaped obstacles such as stairs and those of an unspecified shape such as rocks, downed trees, and other miscellaneous objects. Engineers must consider the centre of gravity, torque requirements to ascend inclines, mass, and payloads when designing mobile robotic systems for military purposes. In military applications, wearable robotics help the soldiers to carry a heavy pack load Existing Systems In simple robot, steering algorithm is used for robotic actions in which driver or a human being is controlling the robot using remote. Here driver is present, who can see the obstacle and navigate robot accordingly, but there is a disadvantage in it if the driver couldn t detect the obstacle due to network problem or blurry image then the robot may collide with the obstacle Proposed System It intelligently detects obstacles present on its path through the sensors, avoid it by moving slightly backward and stops after the decision are made by the user on the basis of internal code that we set for it. Unmanned Surveillance Vehicle is a robot, whose movement (forward, backward, left, right, stop) can be controlled by an Android app (through HC-05 Bluetooth module). It has an Android camera phone attached to it that can record video, which can be seen live on a laptop or screen. It also has an ultrasonic sensor to measure distance and avoid obstacles. The purpose of our research is to provide simpler robot s hardware architecture but with powerful computational platforms editor@iaeme.com

3 Unmanned Surveillance Vehicle Remotely Controlled by Android Application 2. HARDWARE PLATFORM The hardware model of our research is shown in Figure 1, which consists of an Arduino, DC Motors, Bluetooth module HC-05, Motor Driver L293D IC, 9 Volt Batteries& Battery connectors, Power Bank,HC-SR04 Ultrasonic Module, Android Phone, Camera Mobile Phone (Android) or Camera Module,Chassis, Wheels, Motors, Jumper wires and connecting wires, Breadboard 2.1. Arduino Uno Figure 1 Arduino board The Arduino Uno is an 8-bit microcontroller board based on the ATmega328.It has 14 digital pins and 6 analog pins and other power pins such as, GND, VCC, It has 14 digital I/O pins, 6 analog Inputs, 16 MHz ceramic resonator, a USB connection, a power jack, an ICSP header, and a reset button. It has SRAM 2kb and flash memory 32kb. EEPROM with 1KB. It contains everything needed to support the microcontroller. We either need to connect it to a computer using a USB cable or power it with an AC-to-DC (7-12v) adapter or a power bank. We have powered the Arduino using a power bank. The power bank can power the Arduino for 6-10 days (depending on the use of robot) before charging Android Phone We are controlling the robot using Android Phone by using the USV application which we made using MIT App Inventor 2. By installing the application and connecting it to HC-05 Bluetooth Module we can move the robot in four directions i.e., forward, backward, left and right directions. It also has a Stop button to stop the robot HC-SR04 Ultrasonic Sensor Figure 2 HC-SR04 Ultrasonic Sensor module Ultrasonic ranging module HC - SR04 which consist of 4 pins VCC, Trigger, Echo and GND and provides 2cm - 400cm non-contact measurement function, the ranging accuracy can reach to 3mm. In our project we have use the Ultrasonic Sensor to detect the obstacle in front of it and based on the distance of the obstacle from our bot it will send a signal to the arduino that is move backward and stop the bot.ultrasonic Sensor send sound waves which is produced due to vibration of the membrane it strikes the obstacle and return back to sensor based on speed of sound and return time of the echo signal it calculates the distance of the obstacle editor@iaeme.com

4 Venugopal P, Vemparala satya naga chandra mouli, Sayantan Kundu, I V G Sai Dheeraj and Shaik abdul mushahir [5]Ultrasonic sensor measurements have some fundamental drawbacks which limit the usefulness of these devices in a domestic environment or task that require high accuracy. These drawbacks are not related to the product of a specific manufacturer, but are inherent to the principle of ultrasonic range and their commonly used wavelengths. Features: Power Supply: +5V DC Working Current: 15mA Effectual Angle: <15degree Ranging Distance: 2cm 400cm/1-13ft Resolution: 0.3cm Measuring Angle: 30 degree Input pulse width: 10uS Figure 3, 2-D projection from conical fields of ultrasonic sensor. The distance measurement d indicates the existence of an object in the area 2.4. HC-05 Figure 4 HC-05 Bluetooth module Bluetooth is a wireless technology which is use to transmit data to arduino from our mobile. We use a Bluetooth module to achieve our purpose, the module is describe below, The HC-05 module includes 26 MHz crystal, the Radio and Memory chips, 26 MHz crystal, antenna and RF matching network. KEY: If made HIGH before power is applied, forces AT Command Setup Mode. LED blinks slowly (2seconds) VCC: +5Power GND: System / Arduino Ground TXD: Transmit Serial Data from HC-05 to Arduino Serial Receiver. NOTE: 3.3VHIGH level: OK for Arduino RXD: Receive Serial Data from Arduino Serial Transmit editor@iaeme.com

5 Unmanned Surveillance Vehicle Remotely Controlled by Android Application STATE: Tells if connected or not. [6][7] Bluetooth technology with dramatic increase in Smartphone users, smart phones have gradually turned into an all-purpose portable device and provided people for their daily use L293D Motor Driver IC Figure 5 L293D Motor Driver IC Figure 6 H-Bridge L293D is a typical Motor driver or IC which allows DC motor to drive on either direction. We can control the two dc motor simultaneously using only one IC. It can Control the dc motor in any direction. It works on the principal of H bridge circuit. [8]There are two h-bridge circuit inside the IC which will be able to rotate the two dc motor simultaneously.if we look on one of the H bridge (Fig 4).On each side it has two diode.there are two cases when the motor will rotate first when D2 and D3 is forward bias and when D1 and D4 is forward bias. The motor will be idle in rest of the condition. L293D has two enable pins which will drive the motor. PIN 1 and PIN 9 are used to drive the motors DC Motor [9] A DC motor is any of a class of rotary electrical machines that converts direct current electrical energy into mechanical energy. A DC motor's speed can be controlled over a wide range, using either a variable supply voltage or by changing the strength of current in its field windings editor@iaeme.com

6 Venugopal P, Vemparala satya naga chandra mouli, Sayantan Kundu, I V G Sai Dheeraj and Shaik abdul mushahir 2.7. CAMERA MOBILE PHONE OR CAMERA MODULE: A camera module is an image sensor integrated with a lens, control electronics, and an interface like CSI, Ethernet or plain raw low-voltage differential signalling. In our project, we are using a camera mobile phone with the android app IP Webcam (available on Android Play Store). When both the camera phone and the laptop (or Smart TV screen) are connected to a single hotspot, we get the live feed of the Unmanned Surveillance Vehicle on the laptop screen or Smart TV screen. Figure 7.Camera Module 3. SOFTWARE PLATFORM Figure 8 IP Webcam App 3.1. Arduino IDE Tool The Arduino IDE (integrated development environment) is a Cross platform environment for windows, mac OS and other operating System. It is written in java and is used to write and upload programs to Arduino Board. The Arduino IDE supports languages C and C++ and other different languages. It has a software library that has inbuilt input and output procedures.the code written in the IDE is dumped into the arduino using the USB cable that is attached between the arduino and our computer editor@iaeme.com

7 Unmanned Surveillance Vehicle Remotely Controlled by Android Application 4. ALGORITHM Figure 9 Algorithm Flow Chart Fig.9 tells the working flow of our algorithm that we have used in this project. We will control the robot using USV app which will be connected to the arduino. If the command is S then 0000 will be sent to the L293D IC and.if the command is R then 1001 will be written to L293D IC and it will move to right. Similarly for command L, B, F it will move left, backward, forward respectively. Meanwhile if it detect obstacle using the ultrasonic sensor then it will automatically move backward a little bit and stop. The robot will continuously send the live series of images to the laptop screen. Declare variables Declare function Declare the setup for the arduino By calling setup () Initialize the sensors Defining the pins of Arduino as i/o and o/p pins Loop Start call loop (): Reads the i/p from Serial Monitor If input is B via USV app Call backward () End if If input is F via USV app Call forward () editor@iaeme.com

8 Venugopal P, Vemparala satya naga chandra mouli, Sayantan Kundu, I V G Sai Dheeraj and Shaik abdul mushahir End if If input is L via USV app Call left () End if If input is R via USV app Call right () End if Send trigger (Low-High-Low) Pulse to Ultrasonic Sensor Takes time when Echo is high Calculate Distance=340*time If the distance measure using sensor is less than 0.25m Call backward () Generate delay of 250ms and Call stop () End if End of loop End function Forward (): It will apply 10, 10 signal to the H-bridges of L293D IC End forward Backward (): It will apply 01, 01 signal to the H-bridges of L293D IC End backward Left (): It will apply 01, 10 signal to the H-bridges of L293D IC End left Right (): It will apply 10, 01 signal to the H-bridges of L293D IC End right Stop (): It will apply 00, 00 or 11, 11 signal to the H-bridges of L293D End Stop End editor@iaeme.com

9 Unmanned Surveillance Vehicle Remotely Controlled by Android Application 5. WORKING Figure 10 Block Diagram Unmanned Surveillance Vehicle is a robot, whose movement (forward, backward, left, right, stop) is controlled by an Android app (through HC-05 Bluetooth module). It has an Android camera phone attached to it that can record video, which can be seen live on a laptop or screen. It also has an ultrasonic sensor to measure distance and show it on the serial monitor and avoid obstacles by forcing the robot to move slightly backward and then stop, after which the user has the access to control the robot. Bluetooth module is used to command the car using an android application form a smartphone. The Bluetooth module receives the information/signal transmitted by the application and then it further transfers and receives to the Arduino. 9V DC batteries have been used to supply the power to the motor driver. In our robot we also used a camera module (Used smartphone), it is connected to a hotspot which is created by different phone which generates an IP which can be further shown on laptop which is also connected to the same hotspot (as in smartphone). 6. EXPERIMENTAL EVALUATION AND RESULTS Arduino is used as the microcontroller to control the robot body. Firstly, the hardware is assembled on the chassis body which comprises of the arduino and a L293D chip, used to control the motors. The robot follows the command and move in different direction based on the command of the app. The ultrasonic sensor detect the obstacle and stops the robot and move backward and stop and again wait for the user command through the app. The testing is done in a wired medium where a USB cable is used to connect the laptop to the arduino board for sending the necessary information editor@iaeme.com

10 Venugopal P, Vemparala satya naga chandra mouli, Sayantan Kundu, I V G Sai Dheeraj and Shaik abdul mushahir Figure 11 USV App Front-End Figure 12 USV App Back-End Figure 13 Robot Body editor@iaeme.com

11 Unmanned Surveillance Vehicle Remotely Controlled by Android Application Figure 14 Surveillance on PC 7. CONCLUSION AND FUTURE PROSPECT This concept can be applied for unmanned vehicle system on roads by installing another ultrasonic sensor at the back of the car. The robot can be modified for wall climbing purpose by making the model light and by enhancing the gripping system. In this project we have consider that obstacle will be present in front of the object only so that robot can move backward easily without any collision. This can be removed by installing another sensor in the back of the robot. Instead of camera module we have use mobile phone here. We have use Bluetooth module to control the robot using app to increase the range we have to use GPS technology ACKNOWLEDGMENT We would like to express our gratitude to our professor DR.VENUGOPAL.P who has encouraged and providing the intellectual support and opportunity to complete this project. REFERENCES Proceedings Paper [1] C.D. Nugent, D.D. Finlay, P. Fiorini, Y. Tsumaki, and E. Prassler, Home automation as a means of independent living, IEEE Trans. Autom. Sci. Eng., vol. 5, no. 1, pp. 1 9, Jan 2008 [2] Intelligent Surveillance Robot with Obstacle Avoidance Capabilities Using Neural Network Widodo Budiharto, Computational Intelligence and Neuroscience Volume 2015, Article ID , 5 pages [3] R.C. Luo, C.T. Liao, K.L. Su, and K.C. Lin, Automatic docking and recharging system for autonomous security robot, in IEEE/RSJ International Conference on Intelligent Robots and Systems, Edmonton, Canada, 2005, pp [4] G.Song, H. Wang, J. Zhang,and T. Meng, Automatic docking system for recharging home surveillance robots, IEEE Trans Consum Electron, vol. 57, no. 2, pp , Journal Papers [5] Borenstein, J., & Koren, Y. (1988). Obstacle avoidance with ultrasonic sensors. IEEE Journal on Robotics and Automation, 4(2), doi: / [6] Piyare, R. and Tazil, M. (2011) bluetooth based home automation system using Android phones. IEEE 15TH International symposium on consumer electronics (ISCE), june 2011, Singapure editor@iaeme.com

12 Venugopal P, Vemparala satya naga chandra mouli, Sayantan Kundu, I V G Sai Dheeraj and Shaik abdul mushahir Book [7] Potts, J. and Sukittanon, S. (2012) Exploting bluetooth on android mobile mobile devices for home security application, proceedings of southeastcan, March 2012, orlando, florida,usa [8] Murshed, S. Z., Dutta, A., Chatterjee, S., Mondal, I., Saha, A., Saha, S., Das Gupta, S. (2016). Controlling an embedded robot through image processing based object tracking using MATLAB th International Conference on Intelligent Systems and Control (ISCO). doi: /isco [9] ntroduction to Robotics: Mechanics and Control Book by John J Craig editor@iaeme.com