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Design and Implementation of Security Patrol Robot Using Android Application

Conference Paper · October 2017

DOI: 10.1109/AMS.2017.20

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 2017 Asia Modelling Symposium

Design and Implementation of Security Patrol Robot using Android Application

Tahzib Mashrik, Hasib Zunair, Maofic Farhan Karin

Electrical and Computer Engineering
North South University
Dhaka, Bangladesh
zunair.hasib@northsouth.edu

Abstract— Mobile robots are now widely used in various
security and surveillance applications. The paper includes
designing and developing a reconfigurable autonomous
security robot which can be used in household or office
purposes. The idea consists of four main parts: Multiple
sensor array, communication system (Bluetooth and GSM),
motion planning (autonomous patrolling) and software
application for mobile interface.
Keywords— Multisensor, Security Robot, Automatic
Patrolling, GSM, Bluetooth, Android Application.
I. INTRODUCTION
Autonomous security robots are a new groundbreaking
innovation in advanced security and surveillance
technology.
Guards patrolling an area with flashlights and batons never
worked very well; however, today there is an immergence
of smart security systems with intelligent sensors,
embedded systems, autonomous control mechanism and
mobile application.
The first security surveillance robot was proposed by
Everett, H. & Gage, D.W, 1999 in “Mobile Detection.
Assessment and Response System (MDARS)” [1]. Since
then security robots have become a growing interest with
increasing developments in research and application.
Yoichi Shimosasa et al., combining security surveillance
and service system together, developed an autonomous
guard robot which can guide visitors in daytime and patrol
at the night [2]. A team of intelligent mobile security
robots patrols different floors of a building. During the
occurrence of an abnormal event, the mobile robot
transmits the relation location (floor number) of the event
to the supervised computer [3]. An automatic patrolling
vehicle acts as a security patroller in the security system,
which can monitor those dead zones of the traditional fixed
surveillance system. The remote monitoring capabilities
can also be enhanced by using the wireless network. And
the face detection system is adapted to record and analyze
the invaders [4]. Countless applications today are using of
mobile service security robots, including autonomous
navigation, security patrolling, housework, search-and-
rescue operations, material handling, manufacturing, and
automated transportation systems. Regardless of the
application, a mobile robot must use a robust autonomous
navigation system. Autonomous navigation remains one of
the primary challenges in the mobile-robot industry; many
control algorithms and techniques have been recently
developed that aim to overcome this challenge [5]. A
security robot based on UWB technology for indoor
positioning of unknown areas. It can be used in hazardous
environments, like harmful gas leaks, where use of
personnel is very risky [6]. The security patrol robot will
utilize several sensors and motors in order to navigate
indoors in autonomous mode. It will also be able to
communicate and be controlled via Wi-Fi [7].
Recently, security robots are being marketed
commercially. Knightscope’s robot security guards, an
advanced physical security robot which patrols parking
lots, offices and even outdoors. Also, emerging social
robots like Buddy, Personal Robot, Riley and Aido also
features home security patrolling.
While several research and implementation of security
robots are available, the technology used in security robots
reduces its affordability. To solve this problem, the paper
proposes a low-cost autonomous mobile security robot
based on a multisensor system that is user friendly and is
also affordable. The intelligent security patrol robot is
implemented using mobile application. The robot is mobile
and provides fully autonomous patrolling in a defined area.
It has a multisensor monitoring system with 6 sensors.
This also make the robot versatile, such that it can be used
for both patrolling and also for alerts depending on user
choice. Whereas many of the devices serve only one
purpose. It also provides 4 kinds of alarming systems via
which notification of security violation is sent.
II. SYSTEM DESIGN
This section discusses the system modelling, process
and theoretical design of the SPR. It also describes the
flow of instructions and system architecture.
A. Multiple Sensor Array & Structure of the SPR
The SPR utilizes numerous sensors to detect security
risks. These are— passive infrared motion sensor, light
sensor (LDR), temperature sensor (LM35), sound sensor
SparkFun Electret Microphone Breakout), ultrasonic
sensor(HCSR04) and smoke sensor(MQ-2). All the sensors
are directly connected to theATmega328 based 16Mhz
microcontroller (Arduino Uno) which is used as the main
controller. This multisensor system makes security

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DOI 10.1109/AMS.2017.20
surveillance more effective and also avoids false alarms.
For example, if the temperature sensor fails to work and a
fire occurs, it will still be able to detect a fire as the light
sensor and smoke sensor crosses the threshold value. In
addition, in our microcontroller we have incorportated the
interrupt function with our sensors so that does not always
keep reading values from the sensor, rather the system
reads the value if there it detects any change, they are set to
trigger on RISING or FALLING edge signals. This also
shortens the processing time which makes our system
more efficient.
Moving on to the structure of the SPR, the robot is made
using plastic material which is durable and strong which
can withstand hits to some extent. Since it has to travel
over narrow fragile terrain, this robot is made very
lightweight; about 500 g and it is also quiet small in size,
15cm x 15cm x 10cm.
It contains four 600 rpm, 160 oz-in 6V DC micro metal
gear motors. These motors are small light and consume
low current. The 42mm diameter wheel has a 19mm
rubber tire. The placement of the front wheels enables the
robot to easily climb over any small objects. The motors
are inverted and screwed at the bottom of the chassis,
which gives the robot more clearance from the ground. A
figure of the robot is showed in a later section.
B. Communication Interface
There are two modes of communication interface used
in the SPR— Bluetooth and GSM. Firstly, bluetooth is
used to communicate between the robot and mobile phone
application which is discussed in detail in the next section.
The Bluetooth module used is a HC05 which used the
serial port protocol. It is fully qualified Bluetooth
V2.0+EDR 3Mbps modulation with complete 2.4GHz
radio transceiver and baseband. The module is used with
the microcontroller to send and receive data from the
mobile application.
Secondly, a SIM900 Quad Band Wireless GSM/GPRS
module which works in the 800-1900MHz range in
addition with a SIM card is used for sending alarm
notifications to mobile phone via call, text alert in case of
abnormal situations. The destination of the text and calls
are to be set initially using the microcontroller.
C. Mobile Application
A mobile application interface is used to operate and
customize the SPR. Using the application, the user can set
desired alarms, control patrolling and set alarm ticking
values of the sensors.
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Fig. 1. Mobile Application home screen
The mobile application interface of the intelligent
security system is shown in Fig. 1. for the robot system. To
start up the system, the user must press the “connect
button” to connect to the robot via Bluetooth connection.
Once, the robot and the mobile phone are paired, the user
must press the “receive button” to receive the current
readings from the sensors which is displayed in the Current
values column. Using the Set point column, the user can
now put in customized sensor values for the alarm system.
The “Set button” provides the user with suggested sensor
values the user may set for the Set Point column. After
setting the sensor values, the user will choose the alarm
methods by which security violation notification will be
sent. The user is able to choose more than one
combinations from the 5 methods by which notifications
will be received. The “Combinations” blank is used for the
number of sensor values that will be violated to set off the
alarm. For instance, if the user picked 2 for the
“Combinations”, this means out of the seven sensors if two
are triggered at the same time, the alarm goes off. The
“Patrol button” is used to enter the code for patrolling.
The user is able to choose the alarm tick off values for
each sensor and also choose the number of sensor values to
be violated before the alarm ticks off. This makes it
convenient because it avoids circumstances where the
alarm does not go off with incorrect situations, for
instance, with movements from pets at home. Thus,
avoiding false alarms. There are two modes of
communication interface used in the SPR— Bluetooth and
GSM. Bluetooth is used to communicate between the robot
and mobile phone. GSM module is used for sending alarm
notifications to mobile phone via call, text, and app alert.
D. Motion Planning
The SPR can be static or autonomous. The
Autonomous motion sets the SPR to patrol a certain area.
Localization alogorithms are used to obtain the desired
location. Patrol route is customizable according to the
patrol area – this can be done remotely using the mobile
application. The robot uses ultrasonic distance sensor to
move to the assigned distance. Surveillance routes are F. Flow Chart
assigned by the user.

For example, the fig shows the manual input of SPR motion can be Autonomous or manual. The
distances and turn angles to be patrolled. The robot can manual motion makes use of the Bluetooth module and
calculate how much distance it has travelled using wheel- mobile phone. The operator can manually move the SPR
encoders. They work in the 3.3V range. The readings are according to need of placement. The Autonomous motion
taken continuously and processed accordingly. The sets the SPR to patrol a certain area. Patrolling is
command for the distance and angles to be covered are customizable according to the user’s needs.
give in the following format command =
(“10cm,90*,50cm,45*,25cm,5*,10cm,160*). This
automatically patrols a defined area. A simple
demonstration for the patrolling is show in the figure
below for a distance of 10cm and an angle of 90 degrees.

Fig. 2. Patrol input

E. System Architecture

Fig. 3. System Architecture

The Fig.2 portrays the architecture of the system. The
inputs being connected to the microcontroller and outputs
being the mobile phone. The inputs being the 6 sensors,
Motion Sensor, Temperature sensor, Smoke sensor, Object
sensor, Sound sensor and transmission interfaces
(Bluetooth module and GSM Module). The outputs can be
of different types according to the user’s preference which
includes an on-board alarm buzzer and a LED light, a
phone call or text message to the mobile phone.
Fig.4. Flow Chart
III. HARDWARE IMPLEMENTATION
The SPR has the shape of a four-wheeler, and it is
equipped with Microcontroller (Arduino Uno), Light
sensor (LDR), motion sensor (infrared PIR HC-SR04),
Sound Sensor (SparkFun Electret Microphone Breakout),
distance/obstacle sensor (HC-SR04), smoke sensor (MQ-
02), Bluetooth (HC05), GSM module, battery 9V mobile
battery, two driver motors( L293d).

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 Fig 7 shows the initial condition from 0-2.5 minutes
with fixed distance and from 2.5-5 minutes shows
condition when there is a change in distance, in this case,
the distance became smaller than initial condition.

Fig.5a Hardware circuit

Fig.5 shows the diagram of our complete system using

fritizing software, it include all the sensors and
communication modules.

Fig. 8. Sound sensor

IV. RESULTS
The prototype was tested and works successfully. This
section will portray and explain the results from the
sensors of the robot.
The results from the sound sensors were taken in no
sounds and with sound intervals. The flat lines show no
sound conditions and the peak values show when sound is
present. The sound peaks at different kinds of possible
sounds like human voice, door closing, claps, etc.

Fig. 6. Light sensor

Fig 6 shows the functionality of the light sensor used.

The result is plotted with level of light against time. From
0-3.2 minutes portrays no light condition and 3.2-5
minutes portrays condition when light is present. Fig.9. Motion Sensor

Fig 9 shows the results from the motion sensor used. The
sensor gives digital outputs which in initial condition
displays 0 and when in condition with motion displays 1.

Fig.7. Distance sensor

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Fig. 10. Smoke Sensor
Fig 10 shows the results from the smoke sensor used. From
0-3.4 minutes, the sensor portrays initial condition. From
3.4-5 minutes, sensor readings show change with high
values.
Fig. 11. Temperature Sensor
Fig 11 shows the results from the LM35 Temperature
Sensor. The sensor was exposed to different surroundings.
From 0-1.6 minutes, the sensor portrays initial condition.
At 1.5 minutes a peek is detected when the temperature
was changed using a household lighter. Beyond 3.5
minutes the temperature was drastically changed and the
results were observed. A peek of 180*C was seen.
V. CONCLUSION
The robot is easily interfaced via mobile phone;
additionally, the mobile application interface is also easy
to use and user friendly. Its multisensor feature provides a
proficient way to monitor security, avoiding false alarms.
A mobile security system is more efficient compared to a
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fixed security system. The robot features autonomous
patrolling in a defined area, however can also be kept
stationary. It also provides the user with variety of alarm
methods— call, text, on board alarm, app alert. Other than
security, the robot can be used for variety of purpose, such
as fire alarm, burglar alarm, temperature monitoring, even
as a simple alarm clock! Thus the design robot provides a
better and safer environment. A picture of the final
prototype is given below in figure 12.
Fig. 12. Hardware setup of the robot
VI. FUTURE WORK
There is still a wide area of research to be conducted on
security robots to fully implement them in our everyday
lives. The limitations of our prototype include:
• Improvement of sensor accuracy
• Improve algorithm for autonomous patrolling
• Indoor localization
• Implementing Internet of things (IOT)
technology such as Web Control and Camera
feedback
• More accurate system for tracking robot’s
movement. Since the wheel encoders have
different characteristics in different surfaces –
uneven or slippery surface. Sometimes, it does
not work properly.
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