IRJET- IOT Based Surveillance Robotic Car using Raspberry PI

International Research Journal of Engineering and Technology (IRJET) e-ISSN: 2395-0056
Volume: 05 Issue: 03 | Mar-2018 www.irjet.net p-ISSN: 2395-0072
© 2018, IRJET | Impact Factor value: 6.171 | ISO 9001:2008 Certified Journal | Page 422
IOT Based Surveillance Robotic Car Using Raspberry PI
Mayank Dharaskar1, Vatan Gupta2, Priyanka Kale3, Reeta Chopade4, Aayush Jaiswal5,
Prof. Sharadkumar Ghadale6
1,2,3,4,5Student, Dept. of Electronics and Communication Engineering, DBACER college, Maharashtra, Nagpur
6Professor, Dept. of Electronics and Communication Engineering, DBACER College, Maharashtra, Nagpur
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Abstract - Developing surveillance and monitoring
systems can be quite challenging at times, since the systems
should be designed with consideration of the environment to
be monitored. Good surveillance systems need to have
dynamic features, e.g. monitoring cameras. Monitoring such
a large area would also be a challenge for the security
officers, as they will need to spend too much time to patrol
covering all places. To address the challenges like
surveillance of a large building with many levels, which
would insure a high cost to install many cameras at many
places dynamic surveillance systems include dangerous
areas.
Key Words: Raspberry Pi3, Robotic Chassis, Web, USB
Cameras.
1. INTRODUCTION
Raspberry Pi is a card sized computer. It functions almost
same as a computer. There are different types of
surveillance systems available such as camera, CCTV etc.,
In these types of surveillance systems, the person who is
stationary and is located in that particular area can only
able to view what is happening in that place. Whereas,
here, even if the user is moving from one place to another,
he/she can keep track of what is happening in that
particular place at exact time. Also, another advantage is
that it offers privacy on both sides since it is being viewed
by only one person. The other big advantage is that, it is a
easy and simple circuit for understanding and designing.
The operating system used here is Raspbian OS. Raspbian
OS has to be installed so that the image can be transmitted
to the smartphone Closed circuit television monitoring
system has now become an indispensable device in today’s
society. Robots have found an drastically increasing
demand for different range of work in our life. Their use in
army and other security sector increases day by day. Our
paper includes one such instance of how a robot can be of
use to human race in general.. In this project, we use the
internet to establish communication between the user and
a robotic vehicle. This is a dependable connection and a
continuous video feedback is available to control the
robotic vehicle. Due to the use of the web, there is no
limitation on range or distance between the user and the
robotic vehicle. It is proposed to address the lower side at
cost, efficient, high-speed processing & control hardware
for the self-navigating robotics application. Design and
Implementation of a Robotic Vehicle with Real-Time Video
Feedback Control via Internet/web paper illustrate on an
approach to control a robotic vehicle using the internet as
the communication medium between the user and robotic
vehicle. Raspbian OS has to be installed so that the image
and videos can be seen to the smartphone directly. Closed
circuit television monitoring system has now become an
indispensable device in today’s society. There are afferent
places such as school, supermarkets, society security
where we are having their own CCTV system for 24/7
monitoring
2. METHODOLOGY
This is the internet of things (IOT) based project , where
we are particularly uses the Raspberry Pi, USB web
camera and two DC motor with Robot chassis to build this
Robotic car setup. It has a web camera mounted over it,
through which we will get live video feed and the
interesting part here is that we can control and move this
robot from a web browser over the internet. As it can be
controlled using webpage, means it can also be controlled
by using the other smart devices where we can control
through the webpage. We built a webpage in HTML which
has Left, Right Forward Backward links, clicking on which
we can move the robot in any direction. Here we use the
term “Motion” for getting live Video information from USB
camera and used “Flask” for sending commands from
webpage to Raspberry Pi using python script to move the
Robot. The webcam will capture live data with regards to
its surroundings and then send it to a desired device
through internet. The user will be observing this data on
the monitor at the user end. According to the desired
movement, the user will control the robotic vehicle
through the webpage available at the user end.
Fig.: Block Diagram of Setup

Fig.: Flow Chart of the working
3. DESIGN AND IMPLEMENTATION
3.1 Raspberry Pi 3
Raspberry Pi is used for making robot wireless and web
based.ge Raspberry Pi and then the videos are transmitted
wirelessly from the robot to the user’s monitor, from
where the user can conveniently control the robotic
vehicle’s movement and also the robotic arm movement.
Raspberry pi is connected with the dongle which enables
raspberry pi to transmit over the web network.
Raspberry-Pi Module Raspberry Pi uses an SD card for
booting and for memory as it doesn’t have an inbuilt hard
disk for storage.
Raspberry Pi requires 5 volt supply with minimum of 700-
1000 mA current and it is powered through micro USB
cable. ARM11 only requires 3.3 volt of supply which it
takes with the help of linear regulator. 5 volt is required
for the USB ports. It operates at 700M Hz. We use python
or embedded C to write code into the raspberry pi. It has a
strong processing capability due to the ARM11
architecture and Linux-based system. In terms of interface
and control, it has 1 SPI, 1 UART, 1 I2C and 8 GPIO, which
basically meet the control requirement. There are easy to
use open source peripheral driver libraries.
Fig.: Raspberry Pi 3
Fig.: Terminal Window of Raspberry Pi
3.2 MOTOR DRIVER IC L298N
The L298N H-bridge module can be used with motors
which have a voltage range of between 5 and 35V DC.
With the help of L298N H-bridge module, it is quite easy to
control one or two DC motors.
First, connect each motor to the A and B connections on
the L298N module.
Ensure that the polarity of the motors is the same on both
inputs if you are using two motors for a robot or anything.
Otherwise, you may need to exchange them over when
both motors are set to forward and one goes backward.
Next, connect the power supply to pin number 4 on the
L298N module and negative/GND to pin number 5 of the
L298N module.
In this project, we have two DC motors, therefore digital
pins D9, D8, D7 and D6 will be connected to pins IN1, IN2,
IN3 and IN4 respectively. Then connect D10 to pin number
7 on the module (remove the jumper first) and D5 to pin
number 5 of the module (again, remove the jumper).
The direction of the DC motor is controlled by sending a
HIGH or LOW signal to the drive for each of the motors.
For example for motor one, a HIGH signal to IN1 and a
LOW signal to IN2 so that motor will be turning one
direction, and a LOW signal to IN1 and HIGH signal to IN2
will move the motor in other direction.
However, the motors will not move until a HIGH signal is
set to the enable pin (7 for motor one, 12 for motor two).
And they can be turned off when the LOW signal is set to
the same pin. However, if you need to control the speed of
the motors, the PWM signal from the digital pin connected
to the enable pin.

Fig.: Pin IC Diagram of L298N
Fig.: L298N Module
3.3 WHY SSH?
SSH is also known as secured shell. It is a network protocol
by which we can communicate one computer with another
in an encrypted way. This is a kind of tunnel with the help
of which we can remotely access one computer from other
or we can securely send our files or documents to public
Wi-Fi. For example, if you want to send a confidential file
to your friend and both of you are connected to same
public Wi-Fi. In this case, as many other people are also
connected with that public Wi-Fi, there is the fair
possibility that someone can access your data, so the file
you wanted to share with your friend can be hacked by the
middle person. To avoid this and to overcome this
drawback we can use a secure shell protocol. SSH uses
public key cryptography, so whatever message you send, it
will be first encrypted and that message will be decrypted
in the receiver end. For encryption and decryption, sender
and receiver have a secured key so that middle person
cannot hack your data because he will not have the
address of the secured key. In this way, we can
communicate from one computer to another with the help
of SSH protocol with fair security thorough cryptography.
4. NETWORK IMPLEMENTATION
Bot consists of a web camera, voltage regulator circuitry
with L298N motor driver and raspberry pi. The real time
video and control are displayed in the webpage which can
be viewed from anywhere in the world using internet or
within the Wi-Fi range and one can control it using those
control provided. Setting up the raspberry pi and
installation of Operating system from raspberrypi.org.
Here we are using raspbian OS. Install the required
packages in the pi using suitable commands in terminal
window and connect the raspi cam to slot beside the
Ethernet port. Now design the control page that provides a
way to control our robot this page is designed HTML and
python and write the controlling of the robot code based
on the L293N IC logic we have used. Connect to a network
through on board Wi-Fi .Once it is connected through
putty software configure we got the IP address we can use
it for controlling purpose.
5. PROGRAMMING
Python programming is used here. Software design is
divided into 4 codes namely: Webcam Server is the code
run in the Raspberry Pi to capture the images and stream
them over the internet. Here the images will be
compressed into .jpg format to reduce their size prior to
their transmission over the internet. They are sent using
byte array over the UDP soccer.
Webcam Client is run by the user to receive this images in
the form of byte array. They are then displayed on the
monitor at a rate closer to 5 images per second so that
they appear like a continuous video.
Motor Server is run by the user. Monitoring the video, the
user manoeuvres the robotic vehicle or the robotic arm
accordingly. This is done by accepting input either from
the keyboard or the webpage. It is done by checking the
key press events.
Motor Client as per the input from the user, either the
robotic vehicle or the robotic arm move. This is done by
making High or Low the desired GPIO pins of the
Raspberry Pi. 4 GPIO pins are connected to the 4 servo
motors and 4 to the motor driver IC l293d.

6. APPLICATION
1. Indoor spying of warehouse, campus
surveillance to check the improper activities.
2. Tracking locations of terrorist organizations
and then plan an attack at a suitable time.
3. Making video surveillance of any disaster
affected area where human beings can’t go.
4. Field view surveillance of indoor & outdoor
commercial complex, factories & government
buildings/organization.
7. FUTURE SCOPE
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.
8. CONCLUSION
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.
Fig.: Robot Setup
9. REFERENCES
[1] www.electronicsforu.com
[2] www.circuitdigest.com/webcontrolled robotic
surveillance car
[3] International general of Computer
Applications – March 2015
[4] International Journal of Emerging Technology
and Advanced Engineering
[5] Website: www.ijetae.com (ISSN 2250-2459,
Journal, Volume 5, Issue 10, October 2015)
[7] Robotic Vehicle Control using Internet via
Webpage and Keyboard – International journal of
computer application Volume 117 14 Mar.2015.
[6] International Research Journal of Engineering
and Technology (IRJET) e-ISSN: 2395 - 0056
Volume: 04 Issue: 03 | Mar -2017 www.irjet.net

IRJET- IOT Based Surveillance Robotic Car using Raspberry PI

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IRJET- IOT Based Surveillance Robotic Car using Raspberry PI