Robot for exploration

and Surveillance
Biswarup Chaki Gunjan Lunkad Shivraj Rajgure Electronics and
Electronics and Telecommunications Electronics and Telecommunications Telecommunications
Pimpri Chinchwad College of Engineering Pimpri Chinchwad College of Engineering Pimpri Chinchwad College of Engineering
Pune, India Pune, India Pune, India
biswarupchaki@gmail.com glunkad007@gmail.com shivrajgrss2000@gmail.com

Sangita Patil
Assistant Professor, Electronics and
Telecommunication
Pimpri Chinchwad College of Engineering
Pune, India
sangita.patil@pccoepune.org

Abstract - This text highlights the widespread use of robotics systems

equipped with computer vision and sensors for various applications,
including surveillance, military operations, and hazardous
environment inspections. The robots can be controlled remotely
through a smartphone and a wireless network, and have the added
advantage of being modular, allowing for the addition of sensor
modules to gather environmental data. These versatile robots are useful
for tasks such as checking gas leaks, search, and rescue operations
during natural disasters, and regular maintenance.

Keywords - Robot, Dangerous environments, Quality of life military

purposes, Remote evaluation

I. INTRODUCTION
The development of robots has significantly impacted our daily It is used to check for interrupts from the esp01 board as well as
lives, making them easier and more convenient. The proposed robot is send the control signal to the L293D motor driver from the esp32
designed to survey and inspect hazardous environments where it is camera module. The extra GPIOs present may be used to add other
dangerous for humans to go. These environments could range from areas sensors and send data back to the operator. In caseany interrupt is
with gas leaks, manholes, oilspills, or even nuclear disasters. By using generated by the ESP 01 module, it will drive the motor drivers in
this robot, operators canremotely evaluate the dangerous environment the reverse direction so that the connection with the access point is
while being at a safe distance. not lost.
The robot can also be used for military purposes such as spying and This component is the most important, it gets connected to the
surveillance of critical regions. In this project, we will explore the access point after which it will host an HTTP web server. ESP 32
control of an unmanned ground vehicle through a mobile phone and Wi- will receive the control command from the user and also live
Fi module. The robot is equipped with a camera, motor drivers, batteries, stream the video feed to the user using the OV2640 Camera
and two moving wheels. The AI Thinker ESP32-CAM module with onboard the module. ESP 01: - This continuously checks ifthe
ESP32-S processor and OV2640 camera provides video streaming RSSI with the access point is within the specified threshold or
through the HTTP communication protocol. The video can be viewed not. If RSSI falls below the specific threshold it will generate an
through a web browser, and the robot can be controlled through buttons interrupt signal and send it to the Arduino Nano board.
for moving forward, backward, left, and right. The signals from the The signals generated by microcontrollers don’t have enough
user's smartphone are used to move the vehicle, and the video is live-
power to drive/power up the motors so we use a motor. The design
streamed via a camera mounted on the robot.
of the robot is modular, allowing for an additional drive used for
the motor of the robot.
II. METHODOLOGY The signals generated by microcontrollers don’t have enough power
The working and purpose of the robot depending on the sensors to drive/power up the motors so we use a motor driver used to drive
used in the robot as per user needs. In our surveillance robot, we are the motors of the robot. These drivers can provide higher currents and
using multiple gas sensors and a combined temperature humidity sensor. voltages. This module will get connected to the network to share
Robots’ purpose is for the security and data collection of hazardous information about various environmental data after reading.
places and sending the data to authorities for taking accurate decisions.
 III. HARDWARE DESCRIPTION
ESP 8266 Sensor stack
ESP32-CAM AI-Thinker with external antenna

The ESP32-CAM AI-Thinker module is an ESP32 development

board with an OV2640 camera, microSD card support, an onboard flash
lamp, and several GPIOs to connect peripherals. However, it doesn't This module will get connected to the network to share the information
have a built-in programmer. You need an FTDI programmer to connect about various environmental data after reading it from various sensors.
it to your computer and upload code.
The ESP8266 WiFi Module is a self contained SOC with integrated
This component is the most important, it gets connected to the access TCP/IP protocol stack that can give any microcontroller access to your
point after which it will host an HTTP web server. ESP 32 will receive WiFi network. The ESP8266 is capable of either hosting an application
the control command from the user and live stream the video feed to the or offloading all Wi-Fi networking functions from another application
user using the OV2640 Camera onboard the module. processor.

L298N Motor Driver Robot Car Chassis Kit

IV. SOFTWARE DESCRIPTION
Arduino IDE
The Arduino IDE is open-source software, which is used to write and
upload code to Arduino boards. The IDE application is suitable for
different operating systems such as Windows, Mac OS X, and Linux.
It supports the programming languages C and C++. Here, IDE stands
for Integrated Development Environment.
The program or code written in the Arduino IDE is often called as
sketching. We need to connect the Genuine and Arduino board with the
IDE to upload the sketch written in the Arduino IDE software.

The L298N is a dual H-Bridge motor driver which allows speed and
direction control of two DC motors at the same time. The module can HTML
drive DC motors that have voltages between 5 and 35V, with a peak The Hypertext Markup Language or HTML is the standard markup
current of up to 2A. language for documents designed to be displayed in a web browser. It is
The purpose of this component in the circuit is to control the motors, often assisted by technologies such as Cascading Style Sheets and
as we have used two motors for wheels on the backside. scripting languages such as JavaScript.
We have used HTML to create the control panel of the robot on mobile
ESP 01 module as well as desktop screens.

JavaScript
JavaScript is the scripting language used to make the page more
interactive, we use JavaScript to make buttons responsive and connect
the functions with the microcontroller commands.

MIT App inventor

MIT App Inventor is a web application integrated development
environment originally provided by Google, and now maintained by the
The ESP 01 ESP8266 Serial WIFI Wireless Transceiver Module is a
Massachusetts Institute of Technology.
self-contained SOC with an integrated TCP/IP protocol stack that can give
any microcontroller access to your WIFI network. The ESP8266 is capable
of either hosting an application or offloading all Wi-Fi networking functions
from another application processor.
This continuously checks if the RSSI with the access point is within the
specified threshold or not. If RSSI falls below the specific threshold it will
generate an interrupt signal and send it to the Arduino Nano board.
 IV. CIRCUIT DESIGN

As shown above, we created two circuits first one is help the robot to move
forward and the other one is used to sense data using temperature and gas
sensors. In the first circuit, we implemented the camera module for visual
data.
VI. FINAL PRODUCT

V. WORKING AND RESULT

There are two circuits first one is used to control the moment of the robot
and analyze the surroundings and another circuit is used to collect the
surrounding data using sensors.
If there is any emergency arrives then this robot comes into action, and
the robot will explore the surrounding area. While exploring the temperature
and gas sensor will collect the data and send it to the data collector. The
camera used in the robot is for visual understanding surrounding the
situation. If the robot goes outside the network range, then by the manual
controller can bring the robot into the range area for better performance and
minimize the robot loss situation.
Once the data is received on the dashboard so according to data the
rescue team or disaster management team can do preparation according to
the situation.
 VII. FUTURE SCOPES AND IMPROVEMENTS

There are several potential future scopes and improvements that can be made [3] Bo Zhang, Thiago Teixeira, Yuriy Reznik, “Performance of Low-
to the technology . Some of them are: Latency HTTP-based Streaming Players” published in “IEEE
1. Autonomous Navigation: The current technology requires human control Publications” on September 2021.
over the robot's movement. However, with advancements in AI and machine [4] DebapriyaParida, Asish Behera, Jagdish Kumar
learning, it is possible to make the robot navigate autonomously. This will Naik,SoumyaranjanPattanaik, Rajat Sekhar Nanda, “Real-time
reduce human error and make the robot more efficient. Environment Monitoring System using ESP8266 and ThingSpeak on
2. Improved Sensors: While the current technology has an onboard Internet of Things Platform” published in “International Conference on
environmental sensor, there is scope for improvement in terms of the type and Intelligent Computing and Control Systems (ICCS)” on 16 April 2020.
number of sensors that can be used. For example, adding sensors to detect
radiation levels, temperature, humidity, etc., can provide more comprehensive [5] Amin Asadzadeh, Mehrdad Arashpour, Heng Li, Tuan Ngo, Alireza
information about the environment. Bab-Hadiashar, and Ali Rashidi, “Sensor-based safety management”
3. Integration with Cloud: Integrating the robot with cloud technology can published in “Automation in Construction” on February 2020.
provide real-time data analysis and make the robot more effective. For
example, using cloud-based image recognition to detect any potential hazards [6] Marek Babiuch, Petr Foltýnek, Pavel Smutný, “Using the ESP32
or dangers can make the robot more efficient in disaster management. Microcontroller for Data Processing” published in “IEEE Publications” on
4. Improved Battery Life: While the robot can currently be powered by power May 2019.
banks, there is room for improvement in terms of battery life. Developing
better and more efficient batteries can increase the robot's operating time and [7] JeeWoong Park, Yong K. Cho and Ali Khodabandelu, “Sensor-Based
make it more effective. Safety Performance Assessment of Individual Construction Workers”
5. Multi-functionality: Currently, the robot is designed to perform specific published in “Multidisciplinary Digital Publishing Institute (Sensors)” on
tasks such as disaster management, sewer maintenance, and border patrolling. 12 November 2018.
However, there is potential for the robot to perform multiple tasks. For
example, it can be used for various industries' inspection, surveillance, and [8] Arkadiusz Biernacki, Kurt Tutschku, “Performance of HTTP video
monitoring. streaming under different network conditions” published in “Springer
6. Improved Durability: The robot's durability can be improved to withstand Netherlands” on 26 March 2013.
harsh environmental conditions. This can be achieved by using better
materials and designing the robot to be more robust. [9] Yuxiang Sun, Ming Liu, Max Q.-H Meng. “WiFi signal strength-based
Overall, the technology has a lot of potential for future improvements and robot indoor localization” published in “IEEE International Conference on
advancements. With the right developments, it can be made even more Information and Automation (ICIA)” on 23 October 2014.
effective and efficient, making it an essential tool for various industries.
[10] Mordechai Ben-Ari, Francesco Mondada. “Robots and Their
Applications” published in “Springer Open” on 27 October 2017.
VIII. CONCLUSION
[11] Pablo Pueyo, Eric Cristofalo, Eduardo Montijano, Mac Schwager.
We propose to develop a robot for exploration and surveillance that can
“Camera-Realistic Robotics Simulator for Cinematographic Purposes”
be controlled over a Wi-Fi network and sends live video streams in real time.
published in “IEEE/RSJ International Conference on Intelligent Robots
The robot will use a Wi-Fi Access point, such as a smartphone's portable
and Systems (IROS)” on 10 February 2021.
hotspot, and an HTTP web server on the ESP 32S for communication and
control. The robot will be able to be controlled by multiple platforms and
[12] Andrew Singletary, Aiden Swann, Yuxiao Chen, Aaron D. Ames.
devices with secure access to the network and will include a feature to prevent
“Onboard Safety Guarantees for Racing Drones: High-Speed Geofencing
it from going out of range of communication.
With Control Barrier Functions” published in “ IEEE Robotics and
Automation Letters” on 25 January 2022.
IX. ACKNOWLEDGMENT
[13] Susrutha Babu Sukhavasi, Suparshya Babu Sukhavasi, Khaled
We would like to express our gratitude to Dr. M.T. Kolte, Head of the Elleithy, Shakour Abuzneid, Abdelrahman Elleithy. “CMOS Image
Department of Electronics and Telecommunication, and our mentor Mrs. Sensors in Surveillance System Applications” published in “Sensors” on
Sangita Patil for their contributions to the completion of our project, "Robot 12 January 2021.
for Exploration and Surveillance." We are grateful for the time and efforts
provided by our mentor, and the valuable advice and suggestions that were [14] Luigi Pagliarini, Henrik Hautop Lund. “The future of Robotics
instrumental in the completion of this project. The project was completed Technology” published in “International Conference on Artificial Life and
entirely by Gunjan Lunkad, Biswarup Chaki, and Shivraj Rajgure. Robotics” on January 2017.

[15] Riky Tri Yunardi, Deny Arifianto, Farhan Bachtiar, Jihan Intan
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