JOURNAL OF CRITICAL REVIEWS

ISSN- 2394-5125 VOL 9, ISSUE 05, 2022

RASPBERRY PI BASED SURVEILLANCE ROBOT

Mrunal Jadhav1,Sushma Karke2,Suhas Jadhav3
Assistant Professor.Kalpita Mane
Department of Electronics And Telecommunication,School Of Engineering And
Technology,Lohegaon,Pune.
ABSTRACT
The main objective behind this paper is to develop a robot to perform the act of surveillance human
activities using wireless night vision camera and Robots can be manually controlled using Bluetooth
android application. The robot consists of night vision wireless camera which can transmit videos of
the human. The purpose of this robot is to roam around and provide audio and video information from
the given environment and to send that obtained information to the user. In this work, one can control
the robot with the help of mobile. This robot will collect data from remote place and able to send
those data to a remote IoT cloud database. We can control the movement of the robot by sending
instructions via Bluetooth app from our android phone. a multipurpose Robotic vehicle moves
Forward, Left, Right, Backward and Stop directions a which can be constrained by Arduino. In
proposed system we are going to design a low-cost Microcontroller Based Android controlled Robot.
The robot will move forward, backward, left and right direction by following the instructions given
from the mobile. This system can be helpful for various purposes. Our work aims to provide a robotic
vehicle equipped with a wireless camera having night vision capability for remote monitoring/spying
purposes. The night vision camera allows for transmitting real time night vision video even in dark
environments. Whatever is recorded by the camera can be viewed in PC for reference.
Keywords: Raspberry pi, camera module, Internet of things, robot.
1. INTRODUCTION
Our work aims to provide a robotic vehicle equipped with a wireless camera having night vision
capability for remote monitoring/spying purposes. The night vision camera allows for transmitting
real time night vision video even in dark environments. Whatever is recorded by the camera can be
viewed in PC for reference. This system is to be useful in war, terrorism and sensitive areas. It can
also be used to operate in jungles and other environments humans cannot possibly enter during the
night. The vehicle can be controlled remotely by an android device for easy operation. It uses android
application commands to move in front, back and left right directions. The vehicle consists of
receivers interfaced to an 8051 microcontroller. On receiving command from the receiver. The 8051
microcontrollers now operates the movement motor through a driver IC. The robotic vehicle can be
easily operated from any android device. It provides a good user interface for handling the vehicle.
The android device can operate the vehicle at a good Bluetooth communication range. The Bluetooth
receiver at the vehicle is used to transmit control movement data from app to vehicle. The night vision
camera mounted on robot allows for efficient spying even in darkest areas using infrared lighting.
Cloud robotics is an emerging field that is centered on the benefits of converged infrastructure and
shared services of a cloud computing environment. In this paper, a system is designed with an
autonomous robot to sense environmental data such as temperature, humidity, and air quality, along
with GPS coordinates and store them on the cloud. The mobile robot is controlled using an Arduino
microcontroller and communicates with the cloud via a Raspberry Pi. A private cloud is set up using
OpenStack that provides Infrastructure as a Service. The collected data are stored in a cloud server

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which could be viewed through a web browser and can be used to create awareness about the
environmental changes of the location under study. A proof- of-concept prototype has been developed
to illustrate the effectiveness of the proposed system. Cloud robotics is an emerging field that merges
the concepts of cloud technologies and service robots. It is a disruptive technology based on the
advantages of rapid fall in costs of servers, data centers, and broadband access, inexpensive cloud
storage, and distributed computing. Internet is used to complement the capabilities of the robots by
relieving them from on -board computation-intensive tasks and enable them to provide effective
services on demand. Robotics is a technology that deals with the design, construction, operation, and
application of robots, as well as computer systems for their control, sensory feedback, and information
processing. The human operator may manipulate the robot from a distance by sending commands and
receiving information via communication network. Robotic systems have brought significant
economic and social impacts to human lives over the past few decades. Recently, robotic systems are
utilized as data-gathering tools by scientists for a greater understanding of environmental processes.
Robots are also being designed to explore deep oceans, to track harmful algal blooms, monitor
climatic condition ns, and to study about remote volcanoes. Cloud is a service provider that provides
services such as infrastructure, software or resources. Infrastructure as a Service (IaaS) models an
organization that outsources the resources required for its operations, including storage and
networking components. While the cloud computing paradigm was originally developed in the cyber
world and applied software as a service (SaaS), in the last few years it has been extended to the cyber-
physical world, including vehicles like cars and people with smartphones, and robots like ground
vehicles and unmanned aerial vehicles. Recently, researchers have started to merge cloud computing
concepts with mobile robotics, e.g. This approach has been particularly useful in the context of
computation intensive applications like image processing and cognition needed by mobile robots as
these tasks take up space, power, and incur high costs. The cost and complexity of performing the
basic functionalities such as sensing, actuation, and control in a single robot increases exponentially.
Therefore, the cloud robot system efficiently provides different types of support. An interesting
related technological development is the emergence of Robots as a Service (RAAS), analogous to
system-oriented architecture. In spite of the significant potential of cloud robot systems, much of the
research in literature has focused mainly on cloud-based operation of robot manipulators or arms.
For example, Kehoe, et al have applied the cloud computing concept to a manipulator mounted on a
mobile robot system. Their technique performs object recognition, pose estimation and grasping of
common household objects with the aid of Google Goggles Image Recognition System and stores the
results on a cloud server. Kamei, et al have proposed the use of cloud networked robots for providing
multi-location daily activity using on-board manipulators to support elderly and disabled people. Use
of vision-based servo control of manipulators with distributed computing has been proposed in . More
recently, robotics researchers have turned to the applications of cloud computing in individual and
wirelessly networked mobile robot systems.
Real-time path planning for mobile robots using computation-intensive evolutionary algorithms on the
cloud has been studied in . Use of cloud based multi-core graphic processing units for analysis of 3D
perceptual changes in robot texture images for purposes of navigation has been made in . A number of
mobile robotic systems have been developed in recent years for monitoring climate variables both
terrestrial and underwater, harmful algal blooms and volcanoes. Mobile robots with on-board
environmental sensors offer several advantages - low cost, ease of automation, wide operational
range, and flexibility - in the monitoring of wide geographical areas. Indoor and outdoor
environmental monitoring using mobile robots has been considered by several researchers, e.g., .
Small mobile robots called Bobets have been built to capture image that will be processed by a cloud

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setup using Microsoft windows Azure A standalone low cost device for transmitting data with touch
screen display had been built using Raspberry Pi and Bluetooth. A robot to recognize voice had been
developed using Google voice API and Raspberry Pi . Raihan et. al. had developed an economical
automated toll system that work by processing images using Raspberry Pi. The system was developed
as an alternative to the more costly system using RFID. In this paper, a robot is designed to move
autonomously in the open space and to monitor the environmental conditions. The sensor data
collected by the robot are stored in a cloud server that could be also be displayed in a webpage as
well. Since very large amounts of Spatio-temporal environmental data are collected in the process, a
cloud server is used for economical storage, analysis, and retrieval of the data. The cloud environment
is set up using OpenStack in Ubuntu Linux. The Raspberry Pi microcontroller is used in the robot for
communicating with the cloud server, while an Arduino microcontroller is used for control of the
robot
work is to deal with the security issues such as combating of the terrorists activities by tracking their
locations and launch pads and reducing soldier's efforts and involvement in the mission. This can be
achieved by the RF BASED spy robot which consists of a night vision wireless camera. The robot
consists of night vision camera which is wireless and it can record real time videos and footages even
in dark and these footages are displayed on our mobile screen which is connected through Wi-Fi via
MI-app spy. This robot is capable carrying all kinds of military operations under all conditions
without much involvement of the soldiers, thus saving the loss of lives and neutralizing any terrorists'
activities. This can be also useful in gathering information about the arms and ammunitions of the
rivals, destroying them from a sufficient safe distance. This device can easily be connected to the
rocket launcher and tanks, acting as a guide machine. Not only in defense sector but also in disaster
management can be fruitful in managing the situations like flood, earthquakes etc. This can be easily
operated either through Bluetooth or Wi-Fi. But in our work we are more concerned and focused on
Wi-Fi, since it has better communication parameters and range.
2. LITERATURE SURVEY
After going through various articles and research papers we concluded that some of the papers were
beneficial for designing our work and make it a successful one. In Military 2020 Spying Robot by
Sarmad Hameed, Muhammad Hamza Khan, Naqi Jafri, the massive tasks is dangerous in war field. In
border region it gets difficult for the humans working in the battle field to protect themselves from
harm. Both protecting themselves and keeping keen observation on enemy becomes a little bit
difficult task so in that situation robot is better option. Consequently robot replaces the trooper. In
Spying Robot With Night Vision Camera by Aaruni Jha, Apoorva Singh, Ravinder Turna -The robot
sends the flag to the RF collector mounted on the robot through RF transmitter at the base station. Due
to this robot records real time footages and videos and can deliver those at our phone screen even in
dark also as LED lights are used which even the enemy in the at border region or in suspected area
can’t even recognize that something is getting recorded. And the work done by PriyankaYadav, Swati
Gawhale-She concluded that during the period of battle against enemy this robot can be used to
collect all the necessary data that may weaken the opponent’s plan if in case plotting something
dangerous to attack them. In this way the military men would get prepared themselves for anything
that the opponent is plotting against them and retort to their action in a better way that the enemy
could not even think of at correct time.
Robot navigation problems can be generally classified as global or local, depending upon the
environment surrounding the robot. In global navigation, the environment surrounding the robot is
known and a path which avoids the obstacles is selected. In one example of the global navigation

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techniques, graphical maps which contain information about the obstacles are used to determine a
desirable path. In local navigation, the environment surrounding the robot is unknown, or only
partially known, and sensors have to be used to detect the obstacles and a collision avoidance system
must be incorporated into the robot to avoid the obstacles. The artificial potential field approach is one
of the well-known techniques which has been developed for this purpose. Krogh, for example, used a
generalized potential field approach to obstacle avoidance. Kilm and Khosla used instead harmonic
potential functions for obstacle avoidance. On the other hand, Krogh and Fang used the dynamic
generation of sub goals using local feedback information. [5] During the past few years, potential field
methods (PFM) for obstacle avoidance have gained increased popularity among researchers in the
field of robots and mobile robots. The idea of imaginary forces acting on a robot has been suggested
by Andrews and Hogan and Khatib. In these approaches’ obstacles exert repulsive forces onto the
robot, while the target applies an attractive force to the robot. The sum of all forces, the resultant force
R, determines the subsequent direction and speed of travel. One of the reasons for the popularity of
this method is its simplicity and elegance. [6] This paper introduces histogram in-motion mapping
(HIMM), a new method for real-time map building with a mobile robot in motion. HIMM represents
data in a two-dimensional array, called a histogram grid, that is updated through rapid in motion
sampling of onboard range sensors. Rapid in-motion sampling results in a map representation that is
well-suited to modeling inaccurate and noisy range-sensor data, such as that produced by ultrasonic
sensors, and requires minimal computational overhead. Fast map-building allows the robot to
immediately use the mapped information in real-time obstacle-avoidance algorithms. The benefits of
this integrated approach are twofold: (1) quick, accurate mapping; and (2) safe navigation of the robot
toward a given target. [7] Real-time obstacle avoidance is one of the key issues to successful
application of mobile robot systems. All mobile robots feature some kind of collision avoidance,
ranging from primitive algorithms that detect an obstacle and stop the robot short of it in order to
avoid a collision, through sophisticate algorithms, that enable the robot to detour obstacle. The later
algorithms are much more complex, since they involve not only the detection of an obstacle, but also
some kind of quantitative measurements concerning the obstacle’s dimensions. In our system the
ultrasonic sensors are continuously sampled while the robot is moving. If an obstacle produces an
echo, the corresponding cell contents are incremented. A solid, motionless obstacle eventually causes
a high count in the corresponding cells. Misreading, on the other hand, occur randomly, and do not
cause high count in any particular cell. These methods yield a more reliable obstacle representation in
spite of the ultrasonic sensor’s inaccuracies. [8].
Many definitions of the Internet of Things exist, but at the most fundamental level it can be described
as a network of devices interacting with each other via machine to machine (M2M) communications,
enabling collection and exchange of data [9], [10], [11]. This technology enables automation within a
large range of industries, as well as allowing for the collection of big data. Hailed as the driver of the
Fourth Industrial Revolution, Internet of Things technology has already found commercial use in
areas such as smart parking, precision agriculture and water usage management. Extensive research
has also been conducted into the use of IoT for developing intelligent systems in areas including
traffic congestion minimization structural health monitoring crash-avoiding cars , and smart grids.
While the aforementioned fields appear vastly different to healthcare, the research conducted within
them verifies the plausibility of an IoT-based healthcare system. Existing systems in other fields have
proven that remote monitoring of objects, with data collection and reporting are achievable. This can
therefore be expanded and adapted for monitoring the health of people and reporting it to relevant
parties such as caretakers, doctors, emergency services, and healthcare centers.

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In today’s rapid growing generation, the development in the field of new techniques has brought a
vast and massive change in the field of mechanics, automation and advancement in all the sectors of
our day to day life either related to family or social welfare. In all aspects we are experiencing now-a-
day some or the other way kind of changes. All over the world showoffs due to sharply –witted
mobiles have brought a drastic revolution in one’s living standard and various other aspects of life.
One such example is based on android applications which provides us complete open environment to
do anything we are pleased with, related to any field we are that we are interested in guiding us in our
daily life. The primary objective behind creation of this robot keeping a alert watch especially in war
field when something fishy is caught at border side due to some suspected act of enemy or any if any
unnatural things is felt to happen. This is done so, in order to avoid loss of human life as the military
personnel have great danger of losing their life if they are found to spying any suspected area. So, to
avoid it this robot will be useful to use in such cases. This robot vehicle will serve as an suitable
material not only in aspect of providing border security but moreover can be utilized for different
characteristic adversity and this machine for the defense segment will reduce loss of human life too. It
may guide all the military personnel and make them prepared for any misfortune if going to occur
within their shelter region. Different Finder can be utilized that can be embedded on mechanical
vehicle like metallic finder sensor is utilized to distinguish metallic objects. Fire finder is utilized to
distinguish correct heading of fire source. This robot is valuable at places where one cannot reach like
mystery spots or little areas. The foremost centre of this sort of model is to supply one extraordinary
security degree. The great advancement that we come across in in designing this robot is the use of
Wi-Fi. We can use here Bluetooth module also instead of Wi-Fi, but Bluetooth have a short range of
connection to make the robot work more efficiently as compared to Wi-Fi based system. Wi-Fi
technique is useful in case if we are very far from the gadget also, but our connection and Wi-Fi
network is good then it works more significantly. The Node MCU ESP8266 used here acts as a link
between the camera and the motor driver module fixed on the robot. It consists of motor driver
module acts as a controller to control the motion of the robot for working of the wheels of the robot
fixed in it. The motor module used is named as L293D and a connector is provided between Node
MCU module and motor driver module. That connector will be utilized for supplying external power
supply. Four wheels are which operates on DC Motor is used for the motion of the robot. The camera
used here can rotate whole 360 degree to record each and everything at every side wherever we wish
to figure out the situation at the place where it is used for spying purpose
3. EXISTING SYSTEM
In the present existing system, there is manual things of operations going due to that no faster the
applications and cost effective. To make automation we are introducing the robot. This proposed
robot will be controlled via manually. We can control the movement of the robot by sending
instructions via Bluetooth app from our android phone. a multipurpose Robotic vehicle moves
Forward, Left, Right, Backward and Stop directions with night vision spy camera. The existing
system has used the 8051 micro controller and Arduino board in order to design the robot. Here we
use 8051 series micro controller (AT89C52).
4. PROPOSED SYSTEM
Our work aims to provide a robotic vehicle equipped with a wireless camera having night vision
capability for remote monitoring/spying purposes. The night vision camera allows for transmitting
real time night vision video even in dark environments. Whatever is recorded by the camera can be
viewed in PC for reference. The block diagram of iot based firefighting robot is shown by fig.1, which
consists of plurality of sensors, Arduino uno, dc motor and Bluetooth module. Power offer could be a

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regard to supply of electricity. A device which provides electricity or different kinds of power to drive
an output load or various number of installed components. The supply is mostly ordinarily injected to
voltage consuming component, less typically to mechanical parts, and barely other parts. In this
device a 12V DC power is offer to all electronics related component. For this purpose, there is a
requirement to step down electrical device, rectifier, transformer, and filter circuit for smoothing
generated 12V DC power

Figure 1. Block Diagram of Proposed System.

Figure 2. Schematic Diagram of Proposed System

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The Attention commands are transferred to the electronic devices. In reverse, the electronic device
transfers the stored messages from the wireless module. The micro controller checks the Bluetooth
command and after validating the command it performs further certain task on the robot or device.
The micro controller used here in this project is ATMEGA 328 incorporated in an Arduino UNO
board.

The on going revolution of Internet, together With the growing robotics in many activities of
everyday life. In this method we use embedded C language for coding and debugging in arduino by
using ISP programmer. Arduino-IDE tool. And for controlling we use L293D driver IC. Finding this
robot is a reprogrammable, multifunctional manipulator designed to move or pick and place the
materials, Parts and tools. These robots are not only used for lifting purpose but also for polishing,
sealing, Machine handling and minor surgeries also. The automatic mode robot is programmed within
the embedded C Programming and it makes the robot to act as human beings. This version of robot is
mainly defined by the factor named Artificial Intelligence. The fig block diagram gives an idea of
how the robot works. It shows how the system circuit works and how the current flow goes through it.
The wireless communication used is Bluetooth which helps in transferring the data and messages.

Advantages
1. Automation
2. Audio, Video surveillance system
3. wireless data access through Bluetooth
4. robot control based surveillance
5. Efficient and low cost design.
6. Low power consumption.
Applications
1. Industrials
2. War field
3. Security
4. home
5. EXPERIMENTAL RESULTS

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Figure 3. Observe the surroundings by using robot

Figure 4. Detecting the human beings

6. CONCLUSION
This article designed a low-cost Microcontroller Based Android controlled Robot. The robot will
move forward, backward, left and right direction by following the instructions given from the mobile
with audio, video surveillance system using night vision camera. This robot is controlled by Bluetooth
module with left, right, forward and backwards positions through android phone. This system can be
helpful for various purposes. In this paper, we have proposed a design of a smart cloud robot to
monitor the environmental condition of a remote place. A prototype has been developed and tested in
our campus to illustrate the effectiveness of the proposed. Future scope

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In future studies this system integrates with GPS get the exact location of fire and gas detection
detected. Module it utilizes an interface GPS sensor to transmit area of the leakage over to the IOT
login system, here we use IOT to check, get and show the gas leakage caution and location over IOT.
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