IMPLEMENTATION OF AUTOMATIC DOCKING SYSTEM BASED HOME SURVEILLANCE ROBOT

GRD Journals | Global Research and Development Journal for Engineering | International Conference on Innovations in Engineering and Technology (ICIET) - 2016 | July 2016

e-ISSN: 2455-5703

Implementation of Automatic Docking System Based Home Surveillance Robot 1S.Saravanan 2K.Ramamoorthy 1

1,2

PG scholar 2Assistant Professor Department of Information Technology 1,2 K.L.N College of Engineering Abstract

Nowadays, it is not easy to keep vigil of the country from external threats. For guarding always we cannot rely on soldiers alone.

In some cases, soldiers will leave their areas for a short duration just to escape from inclement weather. For continuous defence surveillance, automatic recharging has been done to the robot using wireless power transmission from docking section. For surveillance purpose, the path of the robot has to be fed initially. When the battery of the robot gets low it will automatically reenter to the docking section for recharging purpose. This system also contains multiple sensor modules with an embedded system.

This Robot will be ready to capture the image of any human who enters into robot surveillance region. In the existing system, many researchers worldwide are now engaged in designing various mobile surveillance robots for home security applications. The system integrates a variety of sensors to gather environmental information and detect abnormal events such as fire alarm, intruder alert and gas leakage. In this project the system proposed a development and characterization of a surveillance robot with automatic docking and recharging capabilities for home security. The proposed system is composed of a surveillance robot and a docking station. The robot can return to the docking station for recharging operations when the on-board battery is too low. A docking method based on the self-localization of the robot and the infrared detectors of the docking station is proposed.

Keyword- Surveillance Robot, Fire Alarm, Gas Leakage, Docking Station __________________________________________________________________________________________________

I. INTRODUCTION Now days, it is easy to keep guards outside the house for home security. But always we cannot rely on guards. In some cases, people will lock the house for long days. The proposed system is composed of a surveillance robot and a docking station. The palm-sized surveillance robot has a triangular shape with three wheels. It communicates with the general wireless home router through Wi-Fi. It communicates with the docking station through ZigBee and serves as a mobile wireless sensor network gateway.

[1] The docking station has a trapezoidal structure with an arc-shaped docking interface. A docking method based on the selflocalization of the robot and the infrared detectors of the docking station is proposed. The robot can return to the docking station for recharging operations when the on-board battery is too low. The experimental results show that the prototype robot achieved a success rate of 90% after 60 different docking attempts. Home security is one of the typical applications of home robots. In traditional home security systems, monitoring devices are usually mounted on fixed locations such as doors, windows and walls.

A home surveillance system based on an embedded system with multiple ultrasonic sensor modules has been presented in if any intruder passes through the ultrasonic sensing area, the ultrasonic transmission will be blocked by the human body. The technique is followed in the project to reduce the energy consumption of robot. In this project the robotic unit can be charged using wireless power transmission method.

The development of a patrol robot system for home security with some interaction functionalities has been presented in the system integrates a variety of sensors to gather environmental information and detect abnormal events such as fire alarm, intruder alert and gas leakage. In this implementation of Defense security systems. When a person or motor vehicle enters a monitored area, PIR motion detectors are commonly used in conjunction with different parts of the war field. When someone enters secured places, immediately it will send an indication to the control room section through wireless communication and is indicated to the control room through alarm. The concerned people can understand that an eventuality has happened in the host section. At the same time web camera connected to the microcontroller keeps on capturing what is going on there at the host place and saves it into the computer. When the security people in supervisory room, get an indication to the host section by alarm, they log into the host section computer through wireless LAN, and view all information of the war field section images by PC and can operate the weapons if the entered people were opponent person.[3] In addition to being robust in their hardware and software design surveillance robots must have autonomous capabilities for long duration missions. Renewable energy sources are therefore of great concern. Solar cells or rechargeable batteries are the most commonly used energy sources for mobile robots. But this is not suitable for surveillance robots which work in indoor environments, so using rechargeable batteries is a feasible method to increase long�term autonomy.

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Implementation of Automatic Docking System Based Home Surveillance Robot (GRDJE / CONFERENCE / ICIET - 2016 / 055)

However, most current surveillance robots have to have their batteries replaced by human operators or to carry manually to the recharge point. People prefer robots to be able to do this job automatically. Several methods have been proposed for the automatic recharging station of home robots. Luoetal present a concept of recharging station for home robots. The station consists of an automatic recharging device and a robot docking mechanism. Song et al present a surveillance robot with automatic docking and recharging capabilities for home security and implement the design of a simple semi‐circular recharging station. Home robots must be designed to dock themselves into the station to recharge their battery. Most current surveillance robots lack autonomy capability in long duration missions. They either have to have their Batteries replaced by human operators or carry manually to recharge station. In order to solve this problem and semi-automatic battery charging system for the prolonged activities of home robots is presented in this paper. It provides the functions of surveillance and guidance to charging docking station from remote location.

II. EXISTING SYSTEM The existing system develop Home Security system based on Sensor Network (HSSN) configured by sensor nodes including radio frequency (RF), ultrasonic, temperature, light and sound sensors. Our system can acknowledge security alarm events that are acquired by sensor nodes and relayed in the hop-by-hop transmission way. There are sensor network, home security mobile robot (HSMR) and home server in this system. In the experimental results of this system, we presented that our system has more enhanced performance of response to emergency context and more speedy and accurate path planning to target position for arriving an alarm zone and acquiring the context-aware information.[4] The existing system has recently developed an intelligent security architecture in robot (ISR). Image system, security system, multi-interaction system and obstacle avoidance system can all communicate with each other through intelligent automation robot system (IA robot). We also discuss the modes and distance of obstacle avoidance that influence in the pathway of obstacle avoidance. In order to navigate IA robot to complete mission with obstacle avoidance system and security system by using IR sensors, and USB Web-camera installed in IA robot. Therefore, because the limitation of IR sensors and the action mode we have set, we have to choose a critical distance. When IA robot approaches an obstacle into this distance, ISR will start to avoid obstacle. We also provide seven kinds of functions installed on this IA robot to reach security service. We have successfully demonstrated the modes and distance of obstacle avoidance and the security system.

Disadvantages:  The main limitation is the lack of a voice activated control mechanism and this creates a communication overload that obstructs the user from achieving his/her goals.  An additional issue that has emerged in the field of human-robot usability is the notion of enjoyment during interaction.  Due to irregular room structures and various physical limitations of sensors, there often exist some regions that cannot be covered by the sensors.

III. PROPOSED SYSTEM This paper presents the design and implementation of a novel home surveillance robot with automatic docking and recharging capabilities. The proposed system is composed of a surveillance robot and a docking station. The wheel-based mobile robot with a USB camera is specifically designed for home security usage. It communicates with the general wireless home router through WiFi. It communicates with the docking station through ZigBee and serves as a mobile wireless sensor network gateway. The docking station has a trapezoidal structure with an arc-shaped docking interface. The robot can return to the docking station for recharging operations when the on-board battery is too low. In the patrolling mode, the surveillance robot wanders around in the rooms or follows predefined routes autonomously. When security related information is acquired, it will be sent to the home server for further analysis. In the first responder mode, the surveillance robot shown in the fig 1. is programmed to work in cooperation with other fixed monitoring devices. [7].

Fig. 1: Surveillance Robot

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Implementation of Automatic Docking System Based Home Surveillance Robot (GRDJE / CONFERENCE / ICIET - 2016 / 055)

When one of those devices reports a security event to the surveillance robot, it will navigate to the target region to perform on-site inspections. It overcomes obstacles on its routes by making a detour. In the remote control mode, the surveillance robot will be guided to the region of interest under control of a remote user. Users can access the home security system through various terminals such as PCs, PDAs and mobile phones. The docking interface of the robot is a semi cylinder with two charging electrodes on the front. The charging electrodes are installed on elastic supports so that the impact of the docking station in the docking process can be effectively buffered. The docking interface of the docking station has an arc shape that can guide the robot to finish electrical connections with the docking station. The proposed architecture of the docking interface can tolerate a robot position error up to 7cm and an angle error up to 60 degrees when the robot is performing the docking action. The embedded program in the robot can implement basic locomotion behaviors and other high-level behaviors such as video transmission, cruising, docking and recharging.

The robot communicates with the docking station through ZigBee and serves as a mobile wireless sensor network gateway. More docking stations can be added to the system by serving as additional wireless end nodes. Therefore it will be more flexible for docking and recharging the robot. The graphic user interface at the host computer communicates with the robot through Wi-Fi. In the Wi-Fi network, the robot changes its role to an end device. Each side of the docking station has an IR sensor to detect obstacles ahead. According to the outputs of the IR sensors, the relative position between the robot and the docking station can be determined. Therefore the robot will connect to the docking station automatically. During the docking process, the IR sensors on the robot will temporarily stop working to avoid interfering with the IR sensors on the docking. [2] The hardware for the rangefinder can be broken down into three functional units, the receiving circuit, the transmitting circuit, and the MCU circuit. The receiver and transmitter circuits can work independently of the MCU, which made testing with a signal generator quite useful. This allowed one of us to work on the hardware while the other worked on the software independently and not require one to be dependent on the other for testing. If the surveillance robot wants to recharge by itself whenever the battery voltage is low, it must be able to navigate back to the docking area and connect with the docking station automatically. Some key techniques include self-localization, global and local path planning, docking and charging status detection, and fault-tolerant processing. Before reaching the docking area, the robot mainly depends on its own locomotion capabilities to work. In the final docking process, the robot and the docking station work cooperatively to complete the task.[8] The conceptual architecture of a home security system based on the proposed surveillance robot and the docking station is shown. The surveillance robot can work in three modes according to user requests and task properties: patrolling mode, first responder mode and remote control mode. In the patrolling mode, the surveillance robot wanders around in the rooms or follows predefined routes autonomously. When security related information is acquired, it will be sent to the home server for further analysis. In the first responder mode, the surveillance robot is programmed to work in cooperation with other fixed monitoring devices. When one of those devices reports a security event to the surveillance robot, it will navigate to the target region toper form on-site inspections. It overcomes obstacles on its routes by making a detour.

In the remote control mode, the surveillance robot will be guided to the region of interest under control of a remote user.

Users can access the home security system through various terminals such as PCs, PDAs and mobile phones. The robot depends on two infrared sensors and two incremental encoders to perform obstacle avoidance, autonomous navigation and other locomotion tasks. The encoding board is a circular card with black and white barcodes on the back of the wheel. The encoder detection circuit reads and stores the voltage pulses caused by the rotating wheels. The moving distance of robot therefore can be calculated. The software architecture of the surveillance robot is shown. The embedded program in the robot can implement basic locomotion behaviors and other high-level behaviors such as video transmission, cruising, docking and recharging.

Advantages:  It communicates with the docking station through ZigBee and serves as a mobile wireless sensor network gateway.  The proposed system can response rapidly to alarm incidents and has a friendly user interface including a LCD and a capacitive sensor keyboard.  The wheel-based mobile robot with a USB camera is specifically designed for home security usage[9].

IV. RESULTS This Fig 2. shown in below is the Hardware Module for the Home Surveillance system. This module consists of Fire detector, Gas detector, ZigBee module which controls the data of Fire sensor and Gas sensor.

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Implementation of Automatic Docking System Based Home Surveillance Robot (GRDJE / CONFERENCE / ICIET - 2016 / 055)

Fig. 2: Hardware module of proposed system

This result is used to detect the Gas leakage and Fire alert. It is analyzed by using visual basic software. The amount of values obtained defines the density of the gas leaked and fire, shown in Fig 3.

Fig. 3: Result of proposed system

V. CONCLUSION In order to cover the entire room , the robot module can able to turn in various angle with manual and automatic control.

Under the absence of human the processor will keep the camera in the sleep mode. The technique is followed in the project to reduce the energy consumption of robot. In this project the robotic unit can be charged using wireless power transmission method. Ultrasonic signal confirms the robot that it is in power transmission region. We have presented the design and implementation of a surveillance robot with automatic docking and recharging capabilities for home security. A docking method based on the self-localization of the robot and the infrared detectors of the docking station is proposed. The robot can navigate back to the docking station for recharging operations when the on-board battery is too low. The prototype robot achieved a success rate of 90% after 60 different docking attempts. To implement several technical challenges such as cleaning module, adding more docking stations in the current prototype robot to improve its functions.

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Implementation of Automatic Docking System Based Home Surveillance Robot (GRDJE / CONFERENCE / ICIET - 2016 / 055)

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[2] Chang C., Chen K., Lin H., Wang C. and Jean J. (2007), ‘Development of a patrol robot for home security with network assisted interactions’, in SICE Annual Conference 2007, Kagawa University, Japan, pp. 924-928.

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[5] MdAthiq UR Raza Ahamed M, and WajidAhamed (2013), ‘A Domestic Robot for Security Systems by Video Surveillance Using Zigbee Technology’, Int. Journal of Control, Automation, and Systems , vol. 6, no. 5, pp. 731-739.

[6] Nugent C. D., Finlay D. D., Fiorini P., Tsumaki Y. and Prassler E. (Jan. 2008), ‘Home automation as a means of independent living’, IEEE Trans. Autom. Sci. Eng., Vol. 5, No. 1, pp. 1-8.

[7] RaduDobrescu, Dan Popescu, Maximilian Nicolae and Stefan Mocanu (2009), ‘Hybrid wireless sensor network for homecaremonitoring of chronic patients’, IEEE Trans Consum Electron, Vol. 55, No. 4, pp. 2034-2039.

[8] Silverman M. C., Nies D., Jung B. and Sukhatme G. S. (2002), ‘Staying alive: a docking station for autonomous robot recharging’, in IEEE Int. Conf. on Robotics and Automation, Washington D.C., pp. 1050-1055.

[9] Song G., Wei Z., Zhang W. and Song A. (2007), ‘A hybrid sensor network system for home monitoring applications’, IEEE Trans Consum Electron, Vol. 53, No. 4, pp. 1434-1439.

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