AUTOMATED INTELLIGENT ROBOT FOR SURVEILLANCE
AND SECURITY
K.SANTOSH, R.SRINIVAS, II YEAR, DEPT. OF EEE
SRI SAIRAM ENGINEERING COLLEGE.
Abstarct
Our paper aims at the continuous
monitoring of a particular area by AERIAL
PHOTOGRAPHY. The helicopter termed
as flying robot carries the CMOS camera
at a minimum height of 30m and is
airborne. The monitored images are
simultaneously transmitted to the ground
substation via wireless video
communication. The image is then
processed in the substation for the
presence of human being. This is achieved
by using the image processing techniques
like “GRAY SCALE EROSION FILTER
and EDGE DETECTION ALGORITHM”.
Once the human is detected, signals are
sent to the nearest defence camp (main
station) in the form of text message to
mobile device using GSM communication,
along with a signal to LCD to flash
appropriate message .The key features of
this project is that it is low cost, light
weight, high speed that it takes only 2
seconds to complete the process, no noise
disturbance and an efficient autonomous
system.
TECHNOLOGY INVOLVED
HARDWARE
1. EMBEDDED SYSTEM
2. RF COMMUNICATION
3. GSM-WIRELESS
COMMUNICATION.
SOFTWARE
1. IMAGE
PROCESSING.
INTRODUCTION
The basic process involving in this
system is the detection of an object by the
robot (the helicopter unit), sending the
images to a substation, where the image is
processed, and analyzed. Then the detected
object is given as a signal to one or many
other stations.
Hence the process is divided into 3
units-
1. MAINSTATION
2. SUBSTATION
3. HELICOPTER
UNIT- ROBOT.
Working: HARDWARE
The hardware components that are
present in the main station are 10 keys, PIC
16F877A microcontroller, MAX 232, Liquid
Crystal Display and a mobile. The 10 keys
present are nothing but push buttons that are
used for selecting the next command to be
executed. The commands include selecting
the substation or selecting the category that
is to be detected. The micro controller used
is a 40 pin PDIP package PIC 16F877A.
This PIC is burnt with the process sequence
program that has been written by us. The
program is given in the appendix. The MAX
232 is used for the CMOS TTL logic
conversion between the PIC and the mobile.
A 5x8 dots with cursor LCD is employed
here to display the current status of the
process like ‘Substation1 selected’, ‘human
detect, etc. The mobile is used here for the
wireless full duplex communication between
the main station and the substations. It uses
the GSM protocol for this purpose.
OVERALL BLOCK DIAGRAM

Working: HARDWARE
The process starts as preprogrammed
in the PIC. When the power supply is ON
the port A is set to a value of ‘FF’ and the
port C is set to a value of ‘OF’. That is all
the pins connected to the keys are set in a
HIGH state. The other two ports B and E are
set to ‘0’. The 8 lines of the port D are
connected to the data lines of LCD. Now the
LCD starts displaying the current status of
the process. The displaying of messages in
the LCD constitutes the main program of the
PIC. The changes of state of the keys are
given as interrupts. The first 5 keys are
assigned to the selection of substation 1 to 5.
The no. of substations to be connected to a
main station can be our own choice but care
must be taken that it does not affect the
speed and efficiency of the process. The 6th
key is assigned for Human Detection, 7th is
for Vehicle detection, 8th is for emergency
stopping of the flying robot, 9th is for
detection of combination of all and the 10th
is for saving the image. First, the substation
must be selected. For example, if key 1 is
pressed the PIN 2 becomes low and
becomes an interrupt to the main program.
Now, the PIC sends a data ‘1’ in the form of
text message using mobile to the substation
1. But PIC follows CMOS logic and mobile
follows TTL logic. Hence to make the logic
conversion MAX 232 is employed here.
Now, when the substation is selected
and the acknowledgement is received from
the selected substation LCD displays the
message ‘substation 1’. Simultaneously, the
flying robot starts flying and starts
monitoring. Next command should be the
category to be detected. When the
corresponding key is pressed, the detection
starts. If elements pertaining to that category
are detected, a successful detection message
is received from that substation via mobile
and the same is displayed in the LCD.
The hardware components present
in the substation are a Personal computer, a
MAX 232, two PIC 16F877A, an ULN
2003, 5 relays, a RF transmitter (27 MHz) ,
a RF receiver (2.4 GHz), a USB port and a
mobile.
The Personal computer is a regular use
windows XP compatible system with
installed dot net software. The MAX 232 is
used for the CMOS TTL logic conversion
between the PIC, PC and the mobile. Here
two PIC 16F877A are used because of
memory restriction. One PIC is for the
communication between mobile and PC and
another PIC is for driving the relay and thus
helps in the control of the flying robot. The
ULN 2003 as we know is a current booster
and it helps in driving the relays by boosting
up the signal from the PIC. 5 relays are used
for the controlling of the flying robot. The 5
relays correspond to low, medium, high
speeds along with left and right direction
control. The 27 MHz RF transmitter is used
to transmit the control signals to the flying
robot from the substation. The 2.4 GHz
receiver is used to receive the Video images
in the substation that are captured by the
CMOS camera present in the flying robot.
The USB port is nothing but a TV box that
is used for interfacing camera and the PC.
The mobile is used for the full duplex
communication between the main station
and the substation. It uses the GSM protocol
for this purpose.
The process in the substation starts only
when it receives a message from the main
station. First, all the ports of the 1st PIC are
set in LOW state. When the mobile receives
the message, 25th PIN of this PIC goes high.
This now sends the acknowledgement
message back to the main station through
the same mobile. Again MAX 232 comes in
to play for logic conversion. Simultaneously
as the message is sent 1st PIC sets the 25th
pin of the 2nd PIC to high. This initiates the
processing in the 2nd PIC. This sets the 3rd 4th
5th and 6th pin of ULN 2003 to logic 1 state.
This boosts the current to required level to
drive the relay.
When the category to be detected is
sent by the main station through the mobile,
the PIC sends the command to the PC
through the 2nd pin of the RS232 serial port.
Thus image processing starts and if any
element is detected PC sends signal back to
PIC via 3rd pin of the serial port. After the
logic conversion in the MAX 232 the output
signal goes to the 1st PIC which sends the
message to the mobile in the main station.
The video images caught by the
CMOS camera in the flying robot are
received in the substation with a frequency
of 2.4 GHz. The data received is an analog
one. This is converted in to a digital image
in the TV box or the USB port. The MPEG
images are converted to JPEG images and
are received at 96 frames per second thus
giving an illusion of moving object. The
JPEG images have 3 bytes per pixel.
The hardware components present in
this flying robot unit are the RF receiver
circuit (27MHz), RF transmitter circuit (2.4
GHz inbuilt in the CMOS camera), RF
decoder, CMOS camera with the OV7950
sensor and a motor driver circuit. The RF
receiver, RF decoder and the motor driver
circuit are inbuilt in the helicopter that was
designed by the company. A battery is
required to give power supply to the flying
robot unit. RF receiver receives the control
signal and forwards it to the decoder. The
decoded signal is then given to the motor
driver circuit which drives the main motor
and the tail motor. The movement of the
helicopter is preprogrammed in the PIC in
the substation. The CMOS camera is simply
attached to the flying robot with the help of
an insulation tape and it has got a RF
receiver (2.4 GHz) inbuilt in it that sends the
captured video images to the substation as
analog signals.
SOFTWARE
IMAGE PROCESSING
The image processing is done to
detect and analyze the moving object in two
phases. The first phase is the detection of
any moving object by the use of gray scale
and erosion filter along with the pixellate
function. Only if any moving object is
detected it moves to the next phase which is
the detection of any particular category by
the use of edge detection algorithm.
FIRST PHASE
The JPEG images which we receive
must be converted into a grayscale image.
This will greatly increase the efficiency of
detection.
GRAY SCALE FILTER
In photography and computing, a grayscale
or greyscale digital image is an image in
which the value of each pixel is a single
sample, that is, it carries only intensity
information. Images of this sort, also known
as black-and-white, are composed
exclusively of shades of gray, varying from
black at the weakest intensity to white at the
strongest.
Grayscale images are distinct from one-bit
black-and-white images, which in the
context of computer imaging are images
with only the two colors, black, and white
(also called bilevel or binary images).
Grayscale images have many shades of gray
in between. Grayscale images are also called
monochromatic, denoting the absence of any
chromatic variation.
Grayscale images are often the result of
measuring the intensity of light at each pixel
in a single band of the electromagnetic
spectrum (e.g. infrared, visible light,
ultraviolet, etc.), and in such cases they are
monochromatic proper when only a given
frequency is captured. But also they can be
synthesized from a full color image;
EROSION OPERATION
Once the image is converted into grayscale,
the background and the foreground of the
image must be separated. This is done using
the erosion operation. The process in erosion
operation is given below
SECOND PHASE
If any moving object is detected it moves to
the next phase which is finding out the
detection of any particular category. This is
done using the edge detection algorithm.
EDGE DETECTION ALGORITHM
Edge detection is a terminology in image
processing and computer vision, particularly
in the areas of feature detection and feature
extraction, to refer to algorithms which aim
at identifying points in a digital image at
which the image brightness changes sharply
or more formally has discontinuities.
Edge detection filters work essentially by
looking for contrast in an image. This can
be done a number of different ways; the
convolution filters do it by applying a
negative weight on one edge, and a positive
on the other. This has the net effect of
trending towards zero if the values are the
same, and trending upwards as contrast
exists. This is precisely how our emboss
filter worked, and using an offset of 127
would again make these filters look similar
to our previous embossing filter. The
following examples follow the different
filter types in the same order as the filters
above. The images have a tool tip if you
want to be sure which is which. These three
filters also allow specification of a
threshold. Any value below this threshold
will be clamped to it. For this project testing
we have kept the threshold at 15.
Thus using the edge detection method, the
no. of edges is found. If the no. of edges
equals the no. of edges for human (32
edges), the message ‘human is detected’ is
sent. The image processing part ends here.
MOTION DETECTION
Motion detection is the action of sensing
physical movement in a given area. Motion
can be detected by measuring change in
speed or vector of an object or objects in the
field of view. This can be achieved either by
mechanical devices that physically interact
with the field or by electronic devices that
quantifies and measures changes in the
given environment.
Thus by using the filters- Grey Scale
Erosion filter. Motion detection algorithm,
the moving object is differentiated into man
and animal.
ADVANTAGES
• High processing time (2ms)
• Low cost
• Less weight
• Exclusively human can be detected using
motion detection algorithm.
• No external noise disturbance.
• Autonomous system.
• Optional manual available
CONCLUSION
With the positive results obtained, our 6. Russ, J.C., The Image Processing
proposed autonomous surveillance system Handbook. Second ed. 1995, Boca Raton,
satisfies the design and implementation of a Florida: CRC Press.
recognizable real-time surveillance system 7. Image processing in MATLAB 6.1
for detecting man sized object. The by national instruments.
grayscale erosion and edge detection 8. Through the Eyes of the Condor: An
algorithm is fast, robust and computationally Aerial Vision of Latin America by Robert B.
inexpensive. The helicopter keeps the Haas, Marie Arana
camera roughly perpendicular to the ground. 9. Manual of Aerial Photography by
The whole system process is completed in 2 Ronald Graham, Roger Read
seconds, and therefore it is highly efficient.
If the power to the helicopter is increased,
the fly time can be increased. Safety
equipment can be installed but it will lead to
higher cost. The light weight of the flying
unit can be changed by using heavier
material for the head wings. Another
solution for this issue is the use of motor to
obstruct the opposite wind. But these will
increase the cost of the system. In future we
plan to achieve these disadvantages with low
cost in mind.

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