Latest Project 2.0

Savitribai Phule Pune
University
A Project Report on
SURVEILLANCE ROBOT
CONTROLLED USING ANDROID
APPLICATION
By
Ishaan Tapas (B150451011)

Kunal Vatnivakil (B150451018)
Manish Joshi (B150450899)
Lokesh Mali (B150450937)
Under the Supervision of
Prof. Santosh Raut
Department of Mechanical Engineering

Marathwada Mitra Mandal's College of
Engineering, Karvenagar, Pune-411052
A.Y. 2021-22
CERTIFICATE
Ishaan Tapas (B150451011)
Kunal Vatnivakil (B150451018)
Manish Joshi (B150450899)
Lokesh Mali (B150450937)
This is to certify that the project entitled “Surveillance Robot Controlled using Android
Application” under my supervision in the partial fulfillment of Bachelor of engineering –
Mechanical Engineering of Savitribai Phule Pune University.
Date:
Place: Pune
Prof. Santosh Raut Dr.V.R.Deulgaonkar

Guide Head Dept. Of
Mech. MMCOE,
Pune
Examiner Dr.V.N.Gohokar
Principal MMCOE Pune
ACKNOWLEDGEMENT
We take this opportunity to express my deepest gratitude and appreciation to all those
who have helped me directly or indirectly towards the successful completion of this project
report.
Foremost, We sincerely express my deep sense of gratitude to my guide Prof. Santosh
Raut for their advice, constant support, encouragement and valuable suggestions throughout
the course of my project report work helped me successfully complete the project report. This
project report drew upon the knowledge and experience of my guide. Without their continuous
support and interest, this project report would not have been the same as presented here.
Besides my guide, I would like to thank entire teaching and non-teaching staff in the
Department of Mechanical Engineering for all their help during my tenure at MMCOE. I also
take this opportunity to thank whole-heartedly Honorable Principal Prof. (Dr.) V. N. Gohokar
and our HOD Prof. (Dr.) V. R. Deulgoankar who have imparted valuable teaching and
guidance that has inspired me to attain new goals.
1) Ishaan Tapas (B150451011)

2) Kunal Vatnivakil (B150451018)
3) Manish Joshi (B150450899)
4) Lokesh Mali (B150450937)
iii
INDEX
CONTENT PAGE
SR.
NO. NO
Certificate ii
Acknowledgement vi
Index vii
List of Figures viii
List of Tables ix
Abstract X
1. Introduction 1
1.1 Problem statement 2
1.2 Objectives 2
1.3 Methodology 2
2. Literature review 3
2.1 War Field Robot with Night Vision Camera 3

2.2 Pedestrian Detection by Video processing 4
2.3 Night Vision Patrolling Robot 5
2.4 Wireless Cardrone Surveillance Robot 6
3. System description 7
3.1 3.1Working principle 7
3.2 3.2 System components 9
iv
4. Software Requirement 31
4.1 4.1 Arduino Software (IDE) 31
4.2 4.2 Bluetooth RC Controller 36
4.3 4.3 HDWiFiCamera Pro 38
5. Machine Design
5.1 5.1 Machine Design 40
6. Advantages and Applications 42
6.1 6.1 Advantages
6.2 6.2 Applications 42
7. Results and Discussion 43
7.1 7.1 Test Cases 43
7.2 7.2 Result Discussion 43
8. Conclusion and Future Scope 44
8.1 8.1 Conclusion 44
8.2 8.2 Future Scope 44
9. References 45
v
List of Figures
1 Block Diagram 7
2 ATMEGA 328P 9
3 ATMEGA 328P Pin configuration 17
4 LCD 15
5 Bluetooth Module 18
6 Ultrasonic Sensor 20
7 L293D 21
8 Relay 23
9 DC Motor 24
10 Block Diagram of DC Motor 24
11 Buzzer 25
12 Battery 27
13 Wi-fi Camera 29
14 Arduino 31
15 Bluetooth RC Controller 36
16 HDWifiCamera Pro 38
vi
List of Tables
1.1 LCD Pin Function 16

1.2 Bluetooth Module 19
vii
Savitribai Phule Pune University
ABSTRACT
The robotics and automation industry which is ruled the sectors from manufacturing
to household entertainments. It is widely used because of its simplicity and ability to modify
to meet changes of needs. The project is designed to develop a robotic vehicle using android
application for remote operation attached with wireless camera for monitoring purpose. The
robot along with camera can wirelessly transmit real time video with night vision capabilities.
This robotic vehicle has ability to substitute the solider at border area to provide
surveillance. The robotic vehicle works both as autonomous and manually controlled vehicle
using wireless bluetooth medium. This multi-sensory robot used to detect presence of enemy
capture it in camera and give the live streaming to the authorized person. Surveillance is major
role while we working on border area for this there is robot for surveillance purpose.
This project presents gives a practical present-time approach for surveillance robots at
remote locations and enemy territories using a remote controller based robotic vehicle on
wireless technology that can be used for defence and fire fighting applications. This
surveillance robot will also have a night vision camera and an infrared camera mounted over
it. The purpose of camera is to for a live recording and the infrared camera is to provide night
vision imaging which will do live recording of the entire process of extinguishing.
The wifi technology is relatively new as compared to other technologies and there is
huge potential of its growth and practical application. The android application loaded on mobile
devices, can connect with security system and easy to use GUI.
A robot can be controlled by a human operator, sometimes from a great distance. In
such type of applications wireless communication is more important. This paper also shows
general idea and design of the robot. Surveillance security robot provides safety like man.
Automatic patrolling vehicle for periodic patrolling in defined or a restricted area, the patrolling
vehicle can monitor the dead zones and capture the images by using the camera.
Keyword : ATMEGA328P, Camera, Bluetooth module, Ultrasonic sensor, LCD, DC Motor.
MMCOE, Pune B.E. (Mechanical) i

CHAPTER 1
INTRODUCTION
MMCOE, Pune B.E. (Mechanical) Page 1

he advent of new high-speed technology and the growing computer Capacity

provided realistic opportunity for new robot controls and realization of new methods of control
theory. This technical improvement together with the need for high performance robots created
faster,more accurate and more intelligent robots using new robots control devices, new drivers
and advanced control algorithms. This project describes a new economical solution of robot
controlsystems. In general; the robots are controlled through wired network. The programming
of therobot takes time if there is any change in the project the reprogramming has to be done.
Thus, they are not user friendly and worked along with the user preferences. To make a robot
user- friendly and to get the multimedia tone in the control of the robot, they are designed to
make user commanded work. The modern technology has to be implemented to do this.
The project goals are to develop a Robot with Night Vision Camera, that can be used to
extinguish fire automatically also works with remote handling. The paper is discussing the
prototype of robot that is able to move and extinguish fire using water [1]. Implementation of
this robot is after that cancels the fire by utilizing water instrument [2]. Work region with
boundaries can be stayed away from by this robot, in seeking after its capacity to quench fire
[3]. The development and conduct of this robot is completely controlled by the programmable
embedded c. All types of flag gotten by the embedded C will be prepared and executed to
achieve the mission of the robot [4]. Robot will screen the work zone by performing arbitrary
developments; it as an elective medium utilized by people, particularly the fire fighter to battle
fire.
1.1 PROBLEM STATEMENT

Military personnel face many unique challenges on a daily basis in their work compared to
civilians. Many of these challenges can be aided or overcome by having more information
at the right times.

1.2 OBJECTIVE
Robots to extinguish the war field that can be controlled from a specified distance
in order to reduce the risk. Ultrasonic sensors were used to avoid collisions during
movement.
1.3 METHODLOGY
Microcontroller (ATmega328p) act as a heart piece of the system, and collect the data
A Bluetooth module is connected to the Arduino board. The android application
establishes a connection with the Bluetooth module on the Arduino board. The robot in
the project is made to move in all the four directions using the Android phone. The
circuit is built around ATMEGA 328P controller board, Blue-tooth module HC-05,
motor driver L293D (IC1), DC motors M1 and M2, and a few common components.
The circuit uses two 12v power supply. The regulated 5V supply for the rest of the
circuit is provided by the ATMEGA 328 controller board itself. Motor Driver HBridge
is used to drive two motors which work on 9v DC batteries. DC motors are interfaced
to the Micro controller. The data received by the Bluetooth module from Android smart
phone is fed as input to the controller.

CHAPTER 2
LITERTURE REVIEW

2.1 War Field Robot with Night Vision Camera Kavita Mhatre, Nikita Jha, Sonali
Dhurway
As we might have seen in the news or read in the newspaper about the ongoing tension
among India and China at LAC in Galvan valley and also with Pakistan in J&K lands. As
a youth, we thought of helping our soldiers who are fighting for our safety and well-being
by staying on guard for 24hrs not only by risking their lives but also by staying away from
their families for months. So, we came up with an idea to help our soldiers by building a
war-based spying robot to help them, spy, not only on enemy’s movements but also their
armoires by providing the intel to our soldiers on war field by gaining not only some time
to work on counter strategies but also to know the condition of the territory before entering.
As you might have seen in movies like Raazi where the protagonist acts as a spy and provide

intel about the enemy which involves risking her life in order to reduce the human loss this
robot can be used which not only can reduce the human loss by its ability to go in narrower
areas which are inaccessible to humans without getting spotted but also its ability to see in
the night without getting much attention by using its night vision camera installed on the
robot. This technology is used for serial communication with the robot. It is used to share
data between 2 devices considering the range between devices. The Bluetooth module HC-
05 will be connected with the robot and the commands are given to the robot by the android
application.
The robot serves as a perfect machine for the defense sector in order to reduce the human
life loss and will also help in prevention of illegal activities. The robot is self-powered, with
a backtracking facility, in case a situation arises where there is connection loss from the
base station. Wireless cameras sends back real-time video and audio inputs that can be seen
on a monitor in the base station and action can be taken accordingly.
2.1 PEDESTRAIN DETECTION BY VIDEO PROCESSING USING THERMAL

AND NIGHT VISION SYSTEM Ankit Dilip Yawale, V. B. Raskar
Humans are the most intelligent creation of God. Human’s one of the most important
discover is transportation systems. But with the increase of population, needs and desires
of human being road transportation is getting bit one of the major reasons of human made
death. Pedestrian Detection system is now requirement in the new era of transport. Is
ancient time we use to travel by bullock cart or on a horse which does not causes any
causality. But now-a-days people have 2-3 vehicles at their house which increases the traffic
at roads and accidents and eventually deaths cause by it. In this system, we have tried to
reduce the rate of accidents by more than a half. This project help to build a good and
efficient and cost affective system for car/ automobile manufacturers to develop moresafe
and luxuries vehicles. As the population and needs of human being is increasing the
numbers are increasing government is trying to decrease the rate of causality and death. In
recent years, According to survey 38% of fatal accidents in the European Union occur in
darkness places, instead the fact that, the traffic during nights time is several times smaller
than that on a day. This means that the risk of an accident in darkness increased. This stats
has a strong relation and effect on the pedestrians. Currently, the pedestrians are of about

20 % of all traffic accidents. More than half of pedestrian deaths take place at night (51 %).As per
survey by The Times of India, in various major city of India (figure 1), we can see that 60% of
accident occur at Delhi is at night time. So, it is more necessary to find a goodsolution for
reducing the numbers. This system will assist the driver to see much better in darkness and able
him to drive safely. This system provides him a dashboard that will showhim the live video of
road and also continually alerting him about the pedestrians and handles in the way. This system
can also assist drive who got asleep while long drive by flashing an alert at critical case.
2.2 Night Vision Patrolling Robot Nagadeepa, Ganesh V N, Kavya, Aishwarya
The objective is to safeguard the entire region. Any small sound resulting in sending the
notification through the Blynk robot to the person concerned consists of night vision camerafrom
that we can see the live video through the smartphone sends and capture the area and send it to the
user. Night vision camera plays a significant role in rendering the robotic device automatic.
Robotics is a modern technology that is transforming human existence, with control and
automation being a crucial and emerging component of robotics. Robots function as a computer,
and can be controlled remotely. Patrolling is nothing more than keeping track of an area where the
corresponding robot patrolling area is constantly movingand traveling is continuously moving in
the area allocating to the robot. The robot takes thepictures at 360degree rotation. Then, these
images are transmitted to the user in real time, they it will be evaluated by the user and
appropriate action will be taken if any problems are found. Using camera motor, we may gather
knowledge from both sides of the externalfield. We have two possibilities for controlling the
robot: wired and wireless. Wireless monitoring helps us operate robot from various locations.
GSM is used within this moduleand MCU is used for camera support node. Any minor sound will
trigger an alarm, and therobot will automatically go to the location, take a picture of the scene,
and emails to the user. The Raspberry Pi linked to the camera is crucial in the development of an
automatedrobotic device. The robotic vehicle has night vision cameras and sound sensors and it
movesat different intervals. It employs a predetermined line to follow its direction when

patrolling. Once the sound has been detected, the HD camera will rotate to detect any
intrusion. It has the ability to track sound in the vicinity.
2.3 Wireless Cardrone Surveillance Robot Mr. Atul S Lavhate, Ms. Prajakta A
Shinde, Ms. Sharwari H Shinde
Nowadays, robots are becoming a platform to develop or discover a

machine to ease the work of human. A robot basically is an intelligent device designed to help
humans in almost every relevant or irrelevant field. The robots have no fixed shape, neither
are been specifiedfor any particular field or for any particular work. They can be made or
converted into any form depending upon the area of application. Most likely, nowadays
robots are made withthe help of additional technologies like instead of connection oriented;
robots are being built with a total connection less motive i.e. wireless ones. Also with the
help of surveillance motive, different situations, regions describing various difficulties can
be monitored easily. Hence to enhance these features in a better manner, we have
implemented a wireless surveillance robot to monitor environmental situations in an
efficient way. It is mainly implemented for monitoring various circumstances in the
surrounding environment.We propose a cost effective four wheels surveillance robot using
raspberry pi microcontroller which employ servomotor including DC Motor, RC receiver
and transmitter, various types of different sensors etc. A high resolution video camera is
attached with the robot for acquisition of images and video from the surrounding. By
watching the situational images and videos, it is the user who can get the idea of
environment. This system is very useful for monitoring in areas where there is no Internet
connection and also the collapse of the communication system during any disaster. Our
project “Wireless Cardrone Surveillance Robot” describes the scopes and methods
mentioned above.

CHAPTER 3
SYSTEM DESCRIPTION

3.1 BLOCK DIAGRAM
1. Block Diagram of Project
3.2 WORKING
In this project we use ATMEGA328 microcontroller is the heart of the project. Input
received for the robot came from the Smartphone, camera, and ultrasonic sensors, which will
help in controlling the Surveillance robot.
Using Bluetooth application we can move robot: moving forward, backward, turn right, turn
left with help of Bluetooth module HC05.

Ultrasonic sensors installed on the robot served in detecting obstacles surrounding the robot.
Sensor shot the ultrasonic waves and received it back to determine the distance 40 cm obstacles
in front of it. When the robot perform the forward movement, the ultrasonic sensor turns on
automatically and detect the obstacle behind the robot.
L293D which an motor drive is controlled the direction of the motor 1 and motor 2.
Relay will be trap the motor 3. Motor 3 will be move in only one direction.
The main process of fire extinguisher robot were a Smartphone that can display images in front
of the robot captured by the camera on the robot, the robot movement based on the control of
an application on a Smartphone.
On the LCD display which show the message when detect any obstacles. and alert via buzzer.
HARDWARE REQUIREMENT
1. AT328P Micro-Controller
2. Bluetooth Module
3. Ultrasonic Sensor
4. LCD Display
5. Relay
6. L293D Motor Driver
7. DC Motors
8. Buzzer
9. Battery
10. Wi-Fi Camera
SOFTWARE REQUIREMENT
1. Programming Language:
- Embedded C
2. Compiler:
- Arduino Software (IDE)
3. Android Applications:
- Bluetooth RC Controller

- HDWiFiCamera Pro
3.3 COMPONENTS DESCRIPTION
ATMEGA328P
2. ATmega 328P
MICROCONTROLLER:-
Arduino was born at the Ivrea Interaction Design Institute as an easy tool for fast prototyping,
aimed at students without a background in electronics and programming. As soon as it reached
a wider community, the Arduino board started changing to adapt to new needs and challenges,
differentiating its offer from simple 8-bit boards to products for IoT applications, wearable, 3D
printing, and embedded environments.
Arduino is a single-board microcontroller to make using electronics in multidisciplinary
projects more accessible.
The hardware consists of a simple open source hardware board designed around an 8-bit Atmel
AVR microcontroller, or a 32-bit Atmel ARM. The software consists of a standard
programming language compiler and a bootloader that executes on the microcontroller.

MICROCONTROLLER SPECIFICATION [ATmega328P]

• Operating Voltage: 5V
• Input Voltage(recommended):7-12V
• Input Voltage (limits): 6-20V
• Digital I/O Pins: 14 (of which 6 provide PWM output)
• Analog Input Pins: 6
• DC Current per I/O Pin: 40mA
• DC Current for 3.3V Pin: 50mA
• Flash Memory: 32 KB(ATmega328)
• SRAM: 2 KB (ATmega328)
• EEPROM: 1 KB (ATmega328)
• Clock Speed: 16 MHz
The AT-Mega is a microcontroller board based on the ATmega328 (datasheet). It has 14 digital
input/output pins (of which 6 can be used as PWM outputs), 6 analog inputs, a 16 MHz crystal
oscillator, a USB connection, a power jack, an ICSP header, and a reset button. It contains
everything needed to support the microcontroller; simply connect it to a computer with a USB
cable or power it with a AC-to-DC adapter or battery to get started. The Uno differs from all
preceding boards in that it does not use the FTDI USB-to-serial driver chip. Instead, it features
the Atmega8U2 programmed as a USB-to-serial converter. "Uno" means "One" in Italian and
is named to mark the upcoming release of Arduino 1.0. The Uno and version 1.0 will be the
reference versions of Arduino, moving forward. The Uno is the latest in a series of USB
Arduino boards, and the reference model for the Arduino platform. Arduino microcontroller is
a small computer board which is easy to use besides is something come with open-source,
which means hardware is reasonably priced and development software is free. With Arduino,
ones can write programs and freely creating an interface circuits to read switches and other
sensor, and also controlling motors and lights with a very simple steps.
In its simplest form, an Arduino is a tiny computer that you can program to process inputs and
outputs going into and from the chip. The Arduino is what is known as a Physical or Embedded
Computing platform, which means that it is an interactive system, that through the use of
hardware and software can interact with itʼs environment. For example, a simple use of the
Arduino would be to turn a light on for a set period of time, letʼs say 30 seconds, after a button
has been pressed (we will build this very same project later in the book). In this example, the

Arduino would have a lamp connected to it as well as a button. The Arduino would sit patiently
waiting for the button to be pressed. When you press the button it would then turn the lamp on
and start counting. Once it had counted 30 seconds it would then turn the lamp off and then
carry on sitting there waiting for another button press. You could use this set-up to control a
lamp in an under-stairs cupboard for example. You could extend this example to sense when
the cupboard door was opened and automatically turn the light on, turning it off after a set
period of time.
The Arduino can be used to develop stand-alone interactive objects or it can be connected to a
computer to retrieve or send data to the Arduino and then act on that data (e.g. Send sensor data
out to the internet). The Arduino can be connected to LEDʼs. Dot Matrix displays, LED
displays, buttons, switches, motors, temperature sensors, pressure sensors, distance sensors,
webcams, printers, GPS receivers, Ethernet modules. The Arduino board is made of an Atmel
AVR Microprocessor, a crystal or oscillator (basically a crude clock that sends time pulses to
the microcontroller to enable it to operate at the correct speed) and a 5-volt linear regulator.
Depending on what type of Arduino you have, you may also have a USB connector to enable
it to be connected to a PC or Mac to upload or retrieve data. The board exposes the
microcontrollerʼs I/O (Input/Output) pins to enable you to connect those pins to other circuits
or to sensors, etc. To program the Arduino (make it do what you want it to) you also use the
Arduino IDE (Integrated Development Environment), which is a piece of free software, that
enables you to program in the language that the Arduino understands. In the case of the Arduino
the language is C. The IDE enables you to write a computer program, which is a set of step-by
step instructions that you then upload to the Arduino. Then your Arduino will carry out those
instructions and interact with the world outside. In the Arduino world, programs are known as
ʻSketchesʼ.
PIN CONFIGURATIONS:

3.Atmega 328P Pin Configuration
Pin Descriptions:
VCC
Digital supply voltage
GND
Ground
Port B (PB7:0) XTAL1/XTAL2/TOSC1/TOSC2

Port B is an 8-bit bi-directional I/O port with internal pull-up resistors (selected for each bit).
The Port B output buffers have symmetrical drive characteristics with both high sink and source
capability. As inputs, Port B pins that are externally pulled low will source current if the pull-

up resistors are activated. The Port B pins are tristated when a reset condition becomes active,
even if the clock is not running. Depending on the clock selection fuse settings, PB6 can be
used as input to the inverting Oscillator amplifier and input to the internal clock operating
circuit.
Depending on the clock selection fuse settings, PB7 can be used as output from the inverting
Oscillator amplifier. If the Internal Calibrated RC Oscillator is used as chip clock source,
PB7...6 is used as TOSC2...1 input for the Asynchronous Timer/Counter2 if the AS2 bit in
ASSR is set.
The various special features of Port B are elaborated in Alternate Functions of Port B on page
82 and System Clock and Clock Options on page 27.
Port C (PC5:0)
Port C is a 7-bit bi-directional I/O port with internal pull-up resistors (selected for each bit).
The PC5...0 output buffers have symmetrical drive characteristics with both high sink and
source capability. As inputs, Port C pins that are externally pulled low will source current if the
pull-up resistors are activated. The Port C pins are tristated when a reset condition becomes
active, even if the clock is not running.
PC6/RESET
If the RSTDISBL Fuse is programmed, PC6 is used as an I/O pin. Note that the electrical
characteristics of PC6 differ from those of the other pins of Port C. If the RSTDISBL Fuse is
unprogrammed, PC6 is used as a Reset input. A low level on this pin for longer than the
minimum pulse length will generate a Reset, even if the clock is not running. Shorter pulses
are not guaranteed to generate a Reset.
Port D (PD7:0)
Port D is an 8-bit bi-directional I/O port with internal pull-up resistors (selected for each bit).
The Port D output buffers have symmetrical drive characteristics with both high sink and
source capability. As inputs, Port D pins that are externally pulled low will source current if
the pull-up resistors are activated. The Port D pins are tristated when a reset condition
becomes active, even if the clock is not running.

AVCC
AVCC is the supply voltage pin for the A/D Converter, PC3:0, and ADC7:6. It should be
externally connected to VCC, even if the ADC is not used. If the ADC is used, it should be
connected to VCC through a low-pass filter. Note that PC6...4 use digital supply voltage, VCC.
AREF
AREF is the analog reference pin for the A/D Converter. 1.1.9 ADC7:6 (TQFP and QFN/MLF
Package Only) In the TQFP and QFN/MLF package, ADC7:6 serve as analog inputs to the
A/D converter. These pins are powered from the analog supply and serve as 10bit ADC
channels.

LIQUID CRYSTAL DISPLAY
LCD stands for Liquid Crystal Display. LCD is finding wide spread use replacing LEDs (seven
segment LEDs or other multi segment LEDs) because of the following reasons:-
1. The declining prices of LCDs.
2. The ability to display numbers, characters and graphics. This is in contrast to LEDs, which
are limited to numbers and a few characters.
3. Incorporation of a refreshing controller into the LCD, thereby relieving the CPU of the task
of refreshing the LCD. In contrast, the LED must be refreshed by the CPU to keep displaying
the data.
4. Ease of programming for characters and graphics.
These components are “specialized” for being used with the microcontrollers, which means
that they cannot be activated by standard IC circuits. They are used for writing different
messages on a miniature LCD.
4.LCD display
A model described here is for its low price and great possibilities most frequently used in
practice. It is based on the HD44780 microcontroller (Hitachi) and can display messages in
two lines with 16 characters each. It displays all the alphabets, Greek letters, punctuation marks,
mathematical symbols etc. In addition, it is possible to display symbols that user makes up on
its own. Automatic shifting message on display (shift left and right), appearance of the pointer,
backlight etc. are considered as useful characteristics.
Pin Functions
There are pins along one side of the small printed board used for connection to the
microcontroller. There are total of 14 pins marked with numbers (16 in case the background
light is built in). Their function is described in the table below:

Function Pin Name Logic Description

Number State
Ground 1 Vss - 0V
Power supply 2 Vdd - +5V
Contrast 3 Vee - 0 - Vdd
Control of 4 RS 0 D0 – D7 are interpreted as

operating 1 commands
D0 – D7 are interpreted as data
5 R/W 0 Write data (from controller to

1 LCD)
Read data (from LCD to
controller)
6 E 0 Access to LCD disabled

1 Normal operating
From 1 to Data/commands are transferred to
0 LCD
Data/commands 7 D0 0/1 Bit 0 LSB
8 D1 0/1 Bit 1
9 D2 0/1 Bit 2
10 D3 0/1 Bit 3
11 D4 0/1 Bit 4
12 D5 0/1 Bit 5

13 D6 0/1 Bit 6
14 D7 0/1 Bit 7 MSB
LCD screen:-
LCD screen consists of two lines with 16 characters each. Each character consists of 5x7 dot
matrix. Contrast on display depends on the power supply voltage and whether messages are
displayed in one or two lines. For that reason, variable voltage 0-Vdd is applied on pin marked
as Vee. Trimmer potentiometer is usually used for that purpose. Some versions of displays have
built in backlight (blue or green diodes). When used during operating, a resistor for current
limitation should be used (like with any LED).

BLUETOOTH MODULE
5.Bluetooth Module
The Android app is built to send serial data to the Bluetooth Module HC-05 by pressing ON
button. As Bluetooth Module HC-05 works on serial communication. It receives the data from
the app and sends it through TX pin of Bluetooth module to RX pin of Arduino. The uploaded
code inside Arduino checks the data received. If the receive data is 1, the LED turns ON, and
if the received data is 0 the LED turns OFF.
HC-05 Bluetooth Module is an easy to use Bluetooth SPP (Serial Port Protocol) module,
designed for transparent wireless serial connection setup. Its communication is via serial
communication which makes an easy way to interface with controller or PC
Bluetooth works by the simple principle of sending and receiving data in the form of radio
waves. Every Bluetooth enabled device has a card-like attachment known as the Bluetooth
adapter. It is this Bluetooth adapter that sends and receives data. A Bluetooth adapter has a
particular range of connection.
IN Pin Name Pin Description

NO.
1. KEY/En This pin is used to bring the Bluetooth module in AT commands

mode. By default, this pin operates in data mode. The Key/EN
pin should be high to operate Bluetooth in command mode. In
HC-05, the default baud speed in command mode is 38400bps
and 9600 in data mode.

2. VCC Used to power the Bluetooth module. Give 5V / 3.3 V to this

Pin.
3. GND The ground pin of the module
4. TXD Connect this pin with the RXD pin of the Microcontroller. This
pin transmits Serial data (wireless signals received by the
Bluetooth module are converted by module and transmitted out
serially on this pin)
5. RXD Connect this pin to the TXD pin of the Microcontroller. The
HC05 Bluetooth module receives the data from this pin and then
transmits it wirelessly.
6. STATE It is used to check if the module is connected or not. It acts as a

status indicator.
BLUETOOTH MODULE SPCIFICATION
• Bluetooth protocol: Bluetooth Specification v2.0+EDR (Enhanced Data Rate)

• Frequency: 2.4GHz ISM band
• Modulation: GFSK (Gaussian Frequency Shift Keying)
• Emission power: ≤4dBm, Class 2
• Sensitivity: ≤-84dBm at 0.1% BER
• Speed: Asynchronous communication: 2.1Mbps (Max) / 160 kbps, Synchronous
communication: 1Mbps/1Mbps
• Security: Authentication and encryption
• Profiles: Bluetooth serial port
• Supply Voltage: +3.3V to 6.0 V
• Supply Current: 30mA
• Working temperature: -20 ~ +75Centigrade

ULTRASONIC SENSOR
6.Ultrasonic Sensor
The HC-SR04 Ultrasonic Distance Sensor is a sensor used for detecting the distance to an
object using sonar. It's ideal for any robotics projects your have which require you to avoid
objects, by detecting how close they are you can steer away from them.
The HCSR04 ultrasonic sensor uses sonar to determine distance to an object like bats or
dolphins do. It offers excellent noncontact range detection with high accuracy and stable
readings in an easytouse package. From 2cm to 400 cm or 1” to 13 feet. It operation is not
affected by sunlight or black material like Sharp rangefinders are (although acoustically soft
materials like cloth can be difficult to detect). It comes complete with ultrasonic transmitter
and receiver module.
The timing diagram of HCSR04 is shown. To start measurement, Trig of SR04 must receive a
pulse of high (5V) for at least 10us, this will initiate the sensor will transmit out 8 cycle of
ultrasonic burst at 40kHz and wait for the reflected ultrasonic burst. When the sensor detected
ultrasonic from receiver, it will set the Echo pin to high (5V) and delay for a period (width)
which proportion to distance. To obtain the distance, measure the width (Ton) of Echo pin.
ULTRA SONIC SPEICIFICATION
⚫ Power Supply: +5V DC

● Quiescent Current: <2mA
⚫ Working Current: 15mA
● Effectual Angle: <15°
⚫ Ranging Distance: 2cm – 400 cm/1" 13ft
● Resolution: 0.3 cm
⚫ Measuring Angle: 30 degree
● Trigger Input Pulse width: 10uS
● Dimension: 45mm x 20mm x 15mm

L293D
7.L293D
L293D is a typical Motor driver or Motor Driver IC which is used to drive DC on either
direction. It is a 16-pin IC which can control a set of two DC motors simultaneously in any
direction. It means that you can control two DC motor with a single L293D IC. Dual Hbridge
Motor Driver integrated circuit (IC). The L293d can drive small and quiet big motors as well.
A H bridge is an electronic circuit that enables a voltage to be applied across a load in either
direction. These circuits are often used in robotics and other applications to allow DC motors
to run forwards and backwards.
Most DC-to-AC converters (power inverters), most AC/AC converters, the DC-to-DC push–
pull converter, most motor controllers, and many other kinds of power electronics use H
bridges. In particular, a bipolar stepper motor is almost invariably driven by a motor controller
containing Two H Bridges. H bridges are available as integrated circuits, or can be built from
discrete components.
The term H bridge is derived from the typical graphical representation of such a circuit. An H
bridge is built with four switches (solid-state or mechanical). When the switches S1 and S4
(according to the first figure) are closed (and S2 and S3 are open) a positive voltage will be
applied across the motor. By opening S1 and S4 switches and closing S2 and S3 switches, this
voltage is reversed, allowing reverse operation of the motor.
Using the nomenclature above, the switches S1 and S2 should never be closed at the same time,
as this would cause a short circuit on the input voltage source. The same applies to the switches
S3 and S4. This condition is known as shoot-through.

SPECIFICATION OF L293D :-
• Wide Supply-Voltage Range: 4.5 V to 36 V

• Separate Input-Logic Supply
• Internal ESD Protection
• High-Noise-Immunity Inputs
• Output Current 1 A Per Channel (600 mA for L293D)
• Peak Output Current 2 A Per Channel (1.2 A for other L293D)
• Output Clamp Diodes for Inductive Transient Each, Suppression (L293D).

RELAY
8.Relay
The relay module is an electrically operated switch that allows you to turn on or off a circuit
using voltage and/or current much higher than a microcontroller could handle. The relay
protects each circuit from each other. Controlling a relay with the Arduino is as simple as
controlling an output such as an LED.
Relays are switches that open and close circuits electro-mechanically or electronically. Relays
control one electrical circuit by opening and closing contacts in another circuit. As relay
diagrams show, when a relay contact is normally open (NO), there is an open contact when the
relay is not energized. When a relay contact is Normally Closed (NC), there is a closed contact
when the relay is not energized. In either case, applying electrical current to the contacts will
change their state.
Relays are generally used to switch smaller currents in a control circuit and do not usually
control power consuming devices except for small motors and Solenoids that draw low amps.
Nonetheless, relays can "control" larger voltages and amperes by having an amplifying effect.
RELAY SPECIFICATION
⚫ Operating Voltage (VDC): 3.3 ~ 5

⚫ Trigger Current (mA): 20
⚫ Trigger Voltage (VDC): 5
⚫ Switching Voltage (VAC): 250V at 10A
⚫ Switching Voltage (VDC): 30V at 10A
⚫ Operating Temperature (°C): -40 to 80
⚫ Opt. Relative Humidity (RH): 20% ～ 85%

DC MOTOR
9.DC Motor
A DC motor is any of a class of electrical machines that converts direct current electrical power
into mechanical power. The most common types rely on the forces produced by magnetic fields.
Nearly all types of DC motors have some internal mechanism, either electromechanical or
electronic to periodically change the direction of current flow in part of the motor. Most types
produce rotary motion; a linear motor directly produces force and motion in a straight line.
DC motors were the first type widely used, since they could be powered from existing
directcurrent lighting power distribution systems. 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. Small DC motors are used in tools, toys, and appliances. The universal motor
can operate on direct current but is a lightweight motor used for portable power tools and
appliances. Larger DC motors are used in propulsion of electric vehicles, elevator and hoists,
or in drives for steel rolling mills. The advent of power electronics has made replacement of
DC motors with AC motors possible in many applications.
This DC or direct current motor works on the principal, when a current carrying conductor is
placed in a magnetic field, it experiences a torque and has a tendency to move. This is known
as motoring action. If the direction of current in the wire is reversed, the direction of rotation
also reverses. When magnetic field and electric field interact they produce a mechanical force,
and based on that the working principle of dc motor established. The direction of rotation of
this motor is given by Fleming’s left hand rule, which states that if the index finger, middle
finger and thumb of your left hand are extended mutually perpendicular to each other and if

the index finger represents the direction of magnetic field, middle finger indicates the direction
of current, then the thumb represents the direction in which force is experienced by the shaft of
the dc motor.
Structurally and construction wise a direct current motor is exactly similar to a DC
generator, but electrically it is just the opposite. Here we unlike a generator we supply electrical
energy to the input port and derive mechanical energy from the output port. We can represent
it by the block diagram shown below.
10.Block Diagram of DC Motor
DC MOTOSPECIFICATION:
• Input Voltage :- 12V DC

• RPM :- 30
• Length :- 80MM
• Torque :- 1.5KG.CM
• Shaft Diameter :-6MM
• Weight :-130.00G
BUZZER
11.Buzzer
A buzzer is a device which makes a buzzing or beeping noise. There are several kinds; the most
basic is a piezoelectric buzzer, which is just a flat piece of piezoelectric material with two
electrodes. This type of buzzer requires some kind of oscillator (or something more

complicated like a microcontroller) to drive it-if you apply a DC voltage you will just get a
click. They are used in places where you need something that emits an audible tone, but don’t
care about high-fidelity sound reproduction, like microwave ovens, smoke alarms, and
electronic toys. They are cheap and can be very loud without using very much power. They are
also very thin, so they can be used in flat objects like “singing” greeting cards.
BUZZER SPECIFICATION
• Rated Voltage: 6V DC
• Operating Voltage: 4-8V DC
• Rated current: <30mA
• Sound Type: Continuous Beep
• Resonant Frequency: ~2300 Hz
• Small and neat sealed package
• Breadboard and Perf board friendly
12.BATTERY
13.Battery
Batteries operate by converting chemical energy into electrical energy through electrochemical
discharge reactions. Batteries are composed of one or more cells, each containing a positive

electrode, negative electrode, separator, and electrolyte. Cells can be divided into two major
classes: primary and secondary. Primary cells are not rechargeable and must be replaced once
the reactants are depleted. Secondary cells are rechargeable and require a DC charging source
to restore reactants to their fully charged state.
The ampere-hour (Ah) capacity available from a fully charged battery depends on its
temperature, rate of discharge, and age. Normally, aircraft batteries are rated at room
temperature (25°C), the C-rate (1-hour rate), and beginning of life. The maximum power
available from a battery depends on its internal construction. High rate cells, for example, are
designed specifically to have very low internal impedance as required for starting turbine
engines and auxiliary power units (APUs). Unfortunately, no universally accepted standard
exists for defining the peak power capability of an aircraft battery. For lead-acid batteries, the
peak power typically is defined in terms of the cold-cranking amperes, or CCA rating. For
nickel-cadmium batteries, the peak power rating typically is defined in terms of the current at
maximum power, or Imp rating. These ratings are based on different temperatures (18°C for
CCA, 23°C for Imp), making it difficult to compare different battery types.
BATTERY SPECIFICATION
Nominal voltage: 12 V
Weight: 0.55 Kg
Maximum operating temperature: +500 C
Minimum operating temperature: - 150 C
Capacity: 1.3 Ah
Terminal type: Faston F1
Dimensions: 50 x 47.5 x 97 mm

WIFI CAMERA
14.IBS Wi-Fi Camera
Mini Size, with magnet function, compact & portable, come with a stand holder, easy to hide
on any corner you want, and can also be used as a car camcorder or an aerial action camera.
Just insert a micro-SD card and turn on. You can put the hidden camera in the corner of home,
office, warehouse, store, backyard, garden, car anywhere you want. It has magnet that sticks to
any iron material. With 150°wide-angle lens, stunning HD video quality 1920x 1080p 30 fps,
high resolution live streaming delivers you clear picture with more details to know what's going
on when you're away. This cam supports loop recording, and record & playback with local
micro SD card(up to 128G). Its 6 hidden infra-red LEDs gives fantastic night experience even
in pitch dark, clear visibility up-to 5m. You can remotely turn it ON/OFF. Intelligent motion
detection and App push notification. When motion is detected camera will takes picture and
pushes a message to your phone. You can set camera to record only when motion is detected ,
thus saving SD space and unnecessary recording. You can install it yourself. iOS/ android
supportable.
⚫ WIFI CAMERA: The camera works on 2.4GHz Wi-Fi. Compact size, easily place in the
corner of home, office, store, car, put in your pocket or backpack, or stick it on any iron
with strong magnet back.
⚫ 1080P RESOLUTION & 150° WIDE ANGLE: Adopting quality 2.0MP image sensor,
our camera can capture 1920 x 1080P video at 25fps with high colour. Support remote
MMCOE, Pune, B.E. (Mechanical) Page 31

video viewing via Smartphone, Tablet or PC. 150 degree wide angle lens offers a large
view range to monitor your care. Perfect for baby camera, pet camera.
⚫ IR NIGHT VISION: Built in premium 6 high-powered infrared (IR) LEDs deliver an
outstanding night vision range up to 16.4ft (5m) away in low light environment, even in
the dark. Lightless IR LED design makes sure this Wi-Fi camera will never disturb your
sleep or rest.
⚫ MOTION DETECTION: Upgraded intelligent motion detection sensor with the
sensitivity manually settable. Once a motion is detected, the camera will send Push
Notification with images to your phone. You can log into the App to check it in real time.
CAMERA SPECIFICATION
⚫ Brand: IBS
⚫ Package Dimensions: 14.5 x 8.8 x 4.2 cm; 140 Grams
⚫ Connector Type: Wireless
⚫ Connectivity Protocol: Wi-Fi
⚫ Controller Type: Android
⚫ Resolution: 1080p
⚫ Alert Type: Motion Only
⚫ Wireless Communication Technology: Wi-Fi
Low light technology: Night Color

CHAPTER 4
DESIGN METHODOLOGY

⚫ ❑
1. ARDUINO software is used HOW TO
START WITH ARDUINO SOFTWARE
⚫ Get an Arduino or Genuino board and USB cable.

⚫ Download and install the Arduino Software (IDE).
⚫ Connect the board.
⚫ Install the board drivers.

⚫ Launch the Arduino Software (IDE).
⚫ Open the blink example.
⚫ Select your board. ⚫ Select your serial port.
i. Get an Arduino or Genuino board and USB cable

In this tutorial, we are using an Arduino or Genuino Uno or an Arduino or Genuino Mega 2560.
15. Arduino UNO

ii. Download and install the Arduino Software (IDE)
Get the latest version from the download page. You can choose between the Installer (.exe) and
the Zip packages. We suggest you use the first one that installs directly everything you need to
use the Arduino Software (IDE), including the drivers. With the Zip package you
need to install the drivers manually. When the download finishes, proceed with the installation
and please allow the driver installation process.

Choose the components to install
Choose the installation directory (we suggest to keep the default one)
The process will extract and install all the required files to execute properly the Arduino
Software (IDE)

iii. Connect the board

The USB connection with the PC is necessary to program the board and not just to power it up.
The Uno and Mega automatically draw power from either the USB or an external power supply.
Connect the board to your computer using the USB cable. The green power LED (labelled
PWR) should go on.
iv. Install the board drivers

If you used the Installer, Windows - from XP up to 10 - will install drivers automatically as
soon as you connect your board.
If you downloaded and expanded the Zip package or, for some reason, the board wasn't properly
recognized, please follow the procedure below.
⚫ Click on the Start Menu, and open up the Control Panel.

⚫ While in the Control Panel, navigate to System and Security. Next, click on System. Once
the System window is up, open the Device Manager.
⚫ Look under Ports (COM & LPT). You should see an open port named "Arduino UNO
(COMxx)". If there is no COM & LPT section, look under "Other Devices" for "Unknown
Device".
⚫ Right click on the "Arduino UNO (COMxx)" port and choose the "Update Driver
Software" option.
⚫ Next, choose the "Browse my computer for Driver software" option.
⚫ Finally, navigate to and select the driver file named "arduino.inf", located in the "Drivers"
folder of the Arduino Software download (not the "FTDI USB Drivers" subdirectory). If
you are using an old version of the IDE (1.0.3 or older), choose the Uno driver file named
"Arduino UNO.inf"
⚫ Windows will finish up the driver installation from there.
v. Launch the Arduino Software (IDE)

⚫ Double-click the Arduino icon (arduino.exe) created by the installation process. (Note: if
the Arduino Software loads in the wrong language, you can change it in the preferences
dialog.
vi. Open the blink example

⚫ Open the LED blink example sketch: File > Examples >01.Basics > Blink.

vii. Select your board

You'll need to select the entry in the Tools > Board menu that corresponds to your Arduino or
Genuino board.

viii. Select your serial port

Select the serial device of the board from the Tools | Serial Port menu. This is likely to be
COM3 or higher (COM1 andCOM2 are usually reserved for hardware serial ports). To find
out, you can disconnect your board and re-open the menu; the entry that disappears should be
the Arduino or Genuino board. Reconnect the board and select that serial port.

ix. Upload the program

Now, simply click the "Upload" button in the environment. Wait a few seconds - you should
see the RX and TX leds on the board flashing. If the upload is successful, the message "Done
uploading." will appear in the status bar.
Fig 14.7
A few seconds after the upload finishes, you should see the pin 13 (L) LED on the board start
to blink (in orange). If it does, congratulations! You've gotten Arduino or Genuino up-
andrunning.
2. Bluetooth RC Controller
i. Install Bluetooth RC Controller application from Play Store
Search the app name in Play Store and install it in the Android Phone.
Fig 15.1
ii. Open the App and connect the phone to the bluetooth module on Robot
Initially, after opening the app the bluetooth connectivity indicator at top left corner of
the screen shows red sign that means the application is not connected to the Robot. To
connect the bluetooth, first click the setting icon on top of the screen and then select the
correct bluetooth module from the list of available options i.e. HC-05 and click on it.

iii. Control the Robot using commands on the application
After connecting the bluetooth the indicator shows green colour. From this onwards use
the arrow keys on the left and right side of the screen to control the Robot to move
forward, backward, right and left. The highlighted icon in below figure is used for the
camera motor to rotate.
3. HD Wi-fi Camera Pro
1. Install HDWifiCamera Pro application from Play Store
Search the app name in Play Store and install it in the Android phone.

Fig 16.1
i. Open the app and connect with the camera
Click the On/Off button on the camera. After that open the Android application, the
application then show available options on the screen. Select the correct option and it will
get connect to the camera.
ii. Operate the camera functions via the android application
After connecting the camera with Android app the live feed will start to show on the
mobile screen, there we can select different camera modes on the application according
to the need.


CHAPTER 5
MACHINE DESIGN

Formulae and Calculations:
Formulae:
Battery:-
Current (I) = τ × ω / V
Power (P) = Voltage (V) × Current (I)
Capacity © = Current (I) × time (t)
DC Motor:-
Torque(τ) = Force(f) × Radius
Power(P) = Torque(τ) × Angular Velocity(ω)

Angular Velocity (ω) = 2πN/60
Centrifugal Force (F) = m × r × ω × ω

Calculations:-
𝑷 =𝑽∗𝑰
= 12 * 1.3
= 15.6 V-A ……………..(Battery)
𝐶 = 𝐼∗ 𝑡
= 1.3 * 1
= 1.3 A-H ……………….(Battery)
𝐹 = 𝑚∗𝑔
= 1.019 * 9.81
= 9.996 N .................................................... (on both wheels)
For Single Wheel

F = 4.998N
ω = 2 × 3.14 × 30 / 60
= 3.14 / Sec
𝜏 = 𝑃/ ω
= 15.6 * 3.14
= 48.984 kg-m

Chapter 6
ADVANTAGES AND APPLICATION

6.1 ADVANTAGES
1. It is a wireless system.
2. It provides security.
3. Detect the accurate objective.
4. Work in Hazardous Environment.
5. Cost effective solution for surveillance.
6.2 APPLICATION
⚫ This system can be used in the accident detection system.
⚫ This system can be used for the hospital.
⚫ This system can be used for the agriculture industry.
⚫ This system can be used in agriculture industry.
⚫ This system can be used in garden, parking area.
⚫ This system can be used in the indoor area.
⚫ This system can be used for guidance tracking.

Chapter 7
Results and Discussion

7.1 Test Cases

1. When I have tested my robot I have found that the range of bluetooth is around 10
meter.
2. In dark situation there was no light so that I used LED flash light for better visibility.
3. Our robot easily moves on the rough area.
7.2 Results Discussion

We have two results i.e. the hardware and the software result. The hardware includes the robot
which runs on DC motors. The input to the motors is provided by the L293D motor driver
shield. The input to the driver shield is provided by the Arduino board. The navigational inputs
are given by the user to the Arduino board using the android application via Bluetooth. The
Arduino board, on receiving the signal, processes it and produces the appropriate output. The
communication between the android application and the Arduino board takes place using the
Bluetooth module which is interfaced with the Arduino board. It provides serialcommunication
between the application and the Arduino

Chapter 8
Conclusion and Future Scope

8.1 CONCLUSION
Successfully implement the working of the wireless surveillance robot controlled using android
mobile device. The robot is successfully controlled using the android application through the
wireless Bluetooth technology. The fabricated robot is a model of the arranged progressed
robot for military purpose. The administration operator robot can move without quite a bit of
a track, getting pictures and transmitting them remotely.Even the real time video feel is
successfully achieved using the Wi-Fi technology on our designed android application.

8.2 FUTURE SCOPE
Surveillance is needed in almost every field. It could be a great solution to various problems
or situation where wireless Surveillance is needed our project has tremendous scope as it uses
the latest technology in the market. Our application uses the android OS which is currently the
most used OS and also has a great future scope. The Surveillance robot can be controlled
remotely using the android application; this gives it a huge scope for future application.

REFERENCES
[1]. "M. Tison, QinetiQ North America, Heavy-lift EOD robot, International Conference, art.
125.
[2]. K. O. Arras, R. Siegwart, G.Caprari, The autonomous miniature robot Alice: from
prototypes to applications, IEEE/RSJ International Conference on Intelligent Robots and
Systems, vol.1, 2000, pp. 793- 798., 2000.
[3]. S. Das, A. K Seth, A. Nath., S. Naskar, “Application of Radio Frequency Controlled
Intelligent Military Robot in Defense. Communication Systems and Network
Technologies (CSNT), International Conference, art.”, 2011.
[4]. Haard Mehta, Jignesh Patoliya , Hitesh Patel, Arduino Controlled War Field Spy Robot
using Night Vision Wireless Camera and Android Application, 2015.
[5]. Md. Baijid Hasan Shorif, Sheikh Nuruzzaman3, Ahsanul Hoque, Md. EftekharAlam,
Arduino based Battlefield Assistive Robot2017 IEEE Region 10 Humanitarian Technology
Conference (R10-HTC), 2017.
[6]. Karol Piniarski, Pawel Pawlowski, Adam D.browski,Pedestrian Detection by Video
Processing in Automotive Night Vision system, SIGNAL PROCESSING ALGORITHMS,
ARCHITECTURES, ARRANGEMENTS, AND APPLICATIONS,SPA
2014, September 22-24"', 2014,pp. 104-109.
[7]. J. Ge, Y. Luo, G. Tei, Real Time Pedestrian Detection and Tracking at Night time for
Driver-Assistance Systems, IEEE Transactions on Intelligent Transportation Systems, Vol.
1 0, No.2, 2009, pp. 283 -298
[8]. Pavan.C, Dr. B. Sivakumar Wi-Fi Robot For Video Monitoring Surveillance System
International Journal of Scientific Engineering Research Volume 3, Issue 8, August-2012

[9]. Saliyah Kahar, Riza Sulaiman, Anton Satria Prabuwono, Mohd Fahmi Mohamad Amran,
Suziyanti Marjudi Data Transferring Technique for Mobile Robot Controller via Mobile
Technology 2011 International Conference on Pattern Analysis and Intelligent Robotics
28-29 June 2011.
[10]. European Commission, Towards a European road safety area: policy orientations on road
safety 201 1 - 2020, Brussels, COM(20 I 0) 389, 2010.
[11]. Open source computer vision - OpenCV, http://opencv.org, 2014.

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Savitribai Phule Pune

Ishaan Tapas (B150451011)

Under the Supervision of

Prof. Santosh Raut

Department of Mechanical Engineering

Prof. Santosh Raut Dr.V.R.Deulgaonkar

1) Ishaan Tapas (B150451011)

2.1 War Field Robot with Night Vision Camera 3

5.1 5.1 Machine Design 40

6. Advantages and Applications 42

6.1 6.1 Advantages

6.2 6.2 Applications 42

7. Results and Discussion 43

7.1 7.1 Test Cases 43

7.2 7.2 Result Discussion 43

8. Conclusion and Future Scope 44

8.1 8.1 Conclusion 44

8.2 8.2 Future Scope 44

3 ATMEGA 328P Pin configuration 17

10 Block Diagram of DC Motor 24

1.1 LCD Pin Function 16

Keyword : ATMEGA328P, Camera, Bluetooth module, Ultrasonic sensor, LCD, DC Motor.

MMCOE, Pune B.E. (Mechanical) i

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he advent of new high-speed technology and the growing computer Capacity

1.1 PROBLEM STATEMENT

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2.1 PEDESTRAIN DETECTION BY VIDEO PROCESSING USING THERMAL

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2.2 Night Vision Patrolling Robot Nagadeepa, Ganesh V N, Kavya, Aishwarya

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Nowadays, robots are becoming a platform to develop or discover a

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3.1 BLOCK DIAGRAM

1. Block Diagram of Project

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3.3 COMPONENTS DESCRIPTION

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MICROCONTROLLER SPECIFICATION [ATmega328P]

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3.Atmega 328P Pin Configuration

Port B (PB7:0) XTAL1/XTAL2/TOSC1/TOSC2

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LIQUID CRYSTAL DISPLAY

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Function Pin Name Logic Description

Power supply 2 Vdd - +5V

Contrast 3 Vee - 0 - Vdd

Control of 4 RS 0 D0 – D7 are interpreted as

5 R/W 0 Write data (from controller to

6 E 0 Access to LCD disabled

Data/commands 7 D0 0/1 Bit 0 LSB

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14 D7 0/1 Bit 7 MSB

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