Internet Controlled Multifunctional UGV

For Surveillance

A project paper submitted in partial fulfillment of the requirements for the degree of
Bachelor of Science in Electrical and Electronic Engineering.

Supervised By
Mirza Md Mahbubur Rahman
Senior Lecturer
Department of Electrical & Electronic Engineering
Metropolitan University, Sylhet

Submitted By:
Kamanashish Deb
ID No: 151-141-026

Iqbal Ahmed
ID No: 151-141-014

Date of Submission: 19th May, 2019

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 DEDICATED
TO
OUR BELOVED PARENTS
&
HONORABLE TEACHERS

2
 Certificate

I am certifying that the project entitled- “Internet Controlled Multifunctional UGV For
Surveillance” was done by Kamanashish Deb (ID-151-141-026), Iqbal Ahmed (ID-
151- 141-014). The written and depicted materials inside this project are authentic and
the referencing of each material is done properly. I have accepted their project as the
partial fulfillment for the B.Sc. degree in Electrical and Electronic Engineering.

Signature and Date

Mirza Md. Mahbubur Rahman

Project

Supervisor

Senior Lecturer

Department of Electrical and Electronic

Engineering Metropolitan University, Sylhet,

Bangladesh.

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 Acknowladgements
We would like to thank Metropolitan University for giving us the opportunity to use their
resources and work in such a challenging environment.

Then we would like to take the opportunity to express our deepest sense of gratitude to our
supervisor Mirza Md. Mahbubur Rahman for his able guidance during our project work. This
project would not have been possible without his help and the valuable time that he has given
us amidst his busy schedule.

We would also like to extend our gratitude to our honorable department head and teachers of
this department who have always encourage and supported us in doing our work. We would
like to thank all the staff members of Department of Electrical and Electronic Engineering who
have been very cooperative with us.

Kamanashish
Deb (ID-151-
141-026)

Iqbal Ahmed
(ID-151-141-
014)

4
 Abstract
The IOT based Internet Controlled Surveillance Robot is a automatic electronic
machine that is capable of performing programmed activities thus replacing human
work, in surveillance such as border areas, public places, offices and in industries. The
robot can be remotely controlled over internet without no interaction of human being
manually or can be automatic based on the requirement. The purpose of this robot is to
roam around in effective areas and provide live streaming audio and video information
from the given environment in daytime as well as at night and to send that obtained
information to the user. This robot also uses various sensors that collects data and
sends it to the ESP32 which controls the robot behavior with the environment. The
internet controlled multi- functioning UGV shows a modern attempt for surveillance at
defense and has the ability to assist the solder in border areas. Though the UGV has
high temperature sensitivity, accident like fire explosion in industries or factories when
happens the UGV can perform a vital role by inspection the injured place where human
entrance is not possible for human errors, which help the victims make out of that
place.

The proposed system uses two 250watt induction motors with the perfect wheel and
24volt power supply system to drive the UGV anonymously on rough surface. 4-
channel relay module, MOSFETS, BJT and some basic electronics and power
electronics component are used to design the PWM controlling circuit system to run
the 250watt induction motor efficiently. The attached wireless camera module and 3D
microphone always send the live video and audio output to the user. These systems are
very first and easy to control by typing the URL in the mobiles internet browser where
a HTML button layout will come, by clicking this button in our phones we can easily
run the UGV from any place with live streaming video. The whole function is
available cheaply and the most important thing is, our special high power voltage
switching system make the system operate to 12V to 24V which can obtain when
preferable change needed. That makes the system run in power saving mode which
make it operate for long time.

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Table of Contents
Chapter 1: Introduction
1.1 Introduction …………………………………………………………..

1.2 Motivation ……………………………………………………………

1.3 Literature Review …………………………………………………….

1.4 Objective ……………………………………………………………..

Chapter 2: Background Study

2.1 Internet controlled UGV…………………………………………...

2.2 Overview of Internet Of Things ………………………………….

2.2.1 IoT devices ……..…………………………………………...

2.2.2 IOT device connectivity and networking …...…………….

2.2.3 Iot device security ………………………………………...

2.3 Basic elements of IoT architecture ………..………………………

2.4 IoT and robotics ………………………………………………….

2.5 The UGV on prospective of Bangladesh ……………………..

2.6 Applications of internet controlled UGV ……………………….

2.7 Available UGV categories

Chapter 3: Design equipments

3.1 Design Components ………………………………………………….

3.2 Required Component list …………………………………………….

3.2.1 ESP-32 ……..………………………………………………….

3.2.2 250W Gear Motor ……………...………………........................

3.2.3 12 Volt Battery.………………………………………………...

3.2.4 12 Volt Relay ……………………………………….………….

3.2.5 My1016z2 Motor controller……………………………………...

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 3.2.6 Resistor (120Ohm and 320 Ohm)……………………………….

3.2.7 Diode IN4007…………………………………………………...

3.2.8 MQ7 Carbon monoxide gas sensor……………………………….

3.2.9 Temperature Sensor built in ESP32………………………………

3.2.10 Touch sensor included built in ESP32…………………………...

3.2.11 Metal Detector sensor…………………………………………..

3.2.12 Sonar Sensor…………………………………………………..

3.2.13 OV7670 V1.0 FIFO Camera Module……………………………

3.2.14 Electric Microphone……………………………………………

3.2.15 Capacitor………………………………………………………

3.2.16 Transistor BC548………………………………………………

3.2.17 Servo Motor……………………………………………………

3.2.18

Chapter 4: Methodology
4.1 Circuit Concept ………………………………………………………

4.2 Software and Tools ………………………………………..................

4.2.1 Arduiono IDE……………………………………....................

4.3 Overview of the total system …………………………………….

4.4 Working procedure with block diagram …………………………

4.5 Circuit Diagram ………………………………………………………

Chapter 5: Practical Implementation

5.1 Experimental Setup …………………………………………………..

5.2 Experiments and Observation ………………………………………..

5.3 Result and Validation ………………………………………………..

5.4 Limitation …………………………………………………………….

5.5 Cost Estimation ………………………………………………………

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Chapter 6: Conclusion
6.1 Conclusion …………………………………………………………...

6.2 Scope for Future Work ……………………………………………….

References ……………………………………………………………………………………

Appendix ……………………………………………………………………………………

List of Figures
Figure 1 IoT-architecture…………………………………………………………………..

Figure 2 ESP32 module……………………………………………………………………

Figure 3 Pin Diagram of ESP32 module …………………………………………..

Figure 4 250W Induction Motor. ………………………………………………………….

Figure 5 Motor Controller……………………………………………………………….

Figure 6 Relay……………………………………………………………………………...

Figure 7 Pin diagram of relay……………………………………………………………

Figure 8 Transistor BC548…………………………………………………………………

Figure 9 Resistor(320ohm & 120ohm) ……………………………………………………

Figure 10 Diode. …………………………………………………………………………….

Figure 11 Gas sensor………………………………………………………………………...

Figure 12 Metal detect sensor………………………………………………………………

Figure 13 Sonar sensor………………………………………………………………………

Figure 14 Camera Module OV7670 V1.0 FIFO……………………………………………

Figure 15 Electric Microphone……………………………………………………………...

Figure 16 Capacitor………………………………………………………………………...
Figure 17 lead acid battery 12V…………………………………………………………….

Figure 18 Servo motor. ……………………………………………………………………..

Figure 19 power module…………………………………………………………………….

Figure 20 Connecting Wire…………………………………………………………………

Figure 21 Blynk System overview…………………………………………………………

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Figure 22 UGV controller layout of Blynk………………………………………………
Figure 23 Internet Controlled UGV(Un-named Ground Vehicle) ………………………….

Figure 24 Circuit Diagram of controlling motor………………………………………..

Figure 25 Circuit diagram of relay operations………………………………………………

Figure 26 Sensor connections with ESP32………………………………………………….

Figure 27 Testing motor with controller and relays………………………………………...

Figure 28 Making mechanical setup. ……………………………………………………….

Figure 29 Final overview of the project

List of Tables
Table 1 Required Component List…………………………………………………….
Table 2 Relay pin configuration………………………………………………………….

Table 3 Cost Estimation…………………………………………………………………

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 Chapter One
INTRODUCTION

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1.1 Introduction

Internet of Things basically known as IOT what means the local world connected with the
internet world and the world of internet is the key to maintain the local world. Where mobile
phones and the related internet based technologies are becoming more and more ubiquitous.
Various technical arenas in the field of Telecommunication and Embedded Systems have come
very near to the common people. Which can be use to reduce the very happen disaster. Fire
causes huge loss of live and properties every year in Bangladesh. Analyzing past fire incidents,
facts and revealed some of the main causes are insufficient fire defense materials, electric short
circuit from faulty electrical line, presence of inflammable materials, violation of the fire safety
and lack of adequate awareness etc. Some factories and recent buildings have proper
installation and fire safety arrangement such as fire alarm, fire extinguishers, water supply
systems are not enough to take prompt action during the fire and save life. So ensuring those
facts we make our IOT Based Surveillance Robot which can perform vital role in those
situations. Like with the live streaming video we can observe the on firing spot and with
additional fire extinguisher system we can reduce the fire on that spot where human being can
not reach , also providing oxygen the UGV can save life of stacked victims. Those things are
possible for the high temperature absorption capacity of our UGV. For this we designed our
UGV structure with Nickel Based Super Alloy which can absorb temperature from 1000-1400
Degree Celsius for an adequate time. So that the UGV can send in high flaming area for
inspection as well as turn out fire on that spot. Along with this the UGV can perform for
surveillance purpose in any area by sending live streaming video and sound data to the user,
which will assist the military sections of our country. Also for this surveillance purpose in
military sections we used metal detector sensor to detect metal bombs in rural area. And also
here we used various sensors like gas sensor, sonar sensor for making the UGV semi-
autonomously intelligent for instance actions.

A setup facilitating with microcontroller ESP32 module that receives the controls from the
user, the means of sending signals to the UGV being a mobile phone. This project is an
implementation to the idea of the IOT communication between a internet and a advance
microcontroller WiFi module ESP32. Where two 250W one phase induction motor used to run
the robot with on board power supply of 24Volt.

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1.2 Motivation

Though the entire system contain a gigantic amount of features, we tried to our best to do this
task at a minimum cost as prospective of Bangladesh it can be use in military sections as well
as fire service department and can also use privately for safety of home, school, college,
university, office or any public place or mainly for industries. We used ESP32, 250W
induction motors, 12 volt relay for switching purpose, sensors like metal detector, gas sensor,
sonar sensor, Fifo camera module microphone, Nickel Based super alloy material for structure
and other electronics component to complete this task. Our designed UGV is more power saver
than any other UGV kind of vehicle. If we implement our project practically in future, then we
give our best endeavors to overcome its limitations and structure it in high level.

1.3 Literature Review

A robot is a machine especially one programmable by a computer capable of carrying out a

complex series of actions automatically. Robots can be guided by an external control device or
the control may be embedded within. Robots may be constructed on the lines of human form,
but most robots are machines designed to perform a task with no regard to how they look. The
term comes from a Czech word, robota, meaning "forced labor";the word 'robot' was first used
to denote a fictional humanoid in a 1920 play R.U.R. (Rossumovi Univerzální Roboti -
Rossum's Universal Robots) by the Czech writer, Karel Čapek but it was Karel's brother Josef
Čapek who was the word's true inventor. Electronics evolved into the driving force of
development with the advent of the first electronic autonomous robots created by
William Grey Walter in Bristol, England in 1948, as well as Computer Numerical Control
(CNC)machine tools in the late 1940s by John T. Parsons and Frank L. Stulen. The first
commercial, digital and programmable robot was built by George Devol in 1954 and was
named the Unimate. It was sold to General Motors in 1961 where it was used to lift pieces
of hot metal from die casting machines at the Inland Fisher Guide Plant in the West Trenton
section of Ewing Township, New Jersey.

Robots have replaced humans in performing repetitive and dangerous tasks which humans
prefer not to do, or are unable to do because of size limitations, or which take place in extreme
environments such as outer space or the bottom of the sea. There are concerns about the

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increasing use of robots and their role in society. Robots are blamed for rising technological
unemployment as they replace workers in increasing numbers of functions.[12] The use of
robots in military combat raises ethical concerns. The possibilities of robot autonomy and
potential repercussions have been addressed in fiction and may be a realistic concern in the
future.

1.4 Objective

 The conventional UGV shows a traditional process. But the proposed UGV is smart
enough and easy to control for communication capability.

 The robot can be use to monitor and guard If a company deploys the K5 robot in a
parking lot, one primary function is recording suspicious activity. To help, four HD
video cameras can monitor and record in a 360-degree circle around the robot.

 The UGV has the factors to solve the un-expected circumstances create for fire incident.

 IOT Based Surveillance Robot which can perform vital role in those situations. Like
with the live streaming video we can observe the on firing spot and with additional fire
extinguisher system we can reduce the fire on that spot where human being can not
reach, also providing oxygen the UGV can save life of stacked victims.

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 Chapter Two
BACKGROUND STUDY

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2.1 Internet controlled UG

Present world is increasingly shifting towards automation. Two principle components of today's
industrial automations are programmable controllers and robots. In order to aid the tedious work and
to serve the mankind, today there is a general tendency to develop an intelligent operation. ESP-
WROOM-32 is the heart of the device which handles all the sub devices connected across it. It has
flash type reprogrammable memory. It has some peripheral devices to play this project perform. It
also provides sufficient power to inbuilt peripheral devices. We need not give individually to all
devices. The peripheral devices also activates as low power operation mode. These are the
advantages are appear here.

The internet controlled UGV is an surveillance robot which controlled wirelessly over internet.
Authorized person can control and inspection the robot using their smart phone or with any internet
useable device. It will reduce the risk of human work on surveillance field and effected area on fire
explosion. This system will be the best system where human errors become a fact. This robot
overcomes some of those facts and can serve a inconceivable benefit to the mankind.

2.2 Overview of Internet Of Things

The term Internet of Things generally refers to scenarios where network connectivity and computing
capability extends to objects, sensors and everyday items not normally considered computers,
allowing these devices to generate, exchange and consume data with minimal human intervention.
The concept of combining computers, sensors, and networks to monitor and control devices has
existed for decades. The recent confluence of several technology market trends, however, is
bringing the Internet of Things closer to widespread reality. These include Ubiquitous Connectivity,
Widespread Adoption of IP-based Networking, Computing Economics, Miniaturization, Advances
in Data Analytics, and the Rise of Cloud Computing.

IoT implementations use different technical communications models, each with its own
characteristics. Four common communications models described by the Internet Architecture Board
include: Device-to-Device, Device-to-Cloud, Device-to-Gateway, and Back-End Data- Sharing.

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These models highlight the flexibility in the ways that IoT devices can connect and provide value to
the user. If the projections and trends towards IoT become reality, it may force a shift in thinking
about the implications and issues in a world where the most common interactio with the Internet
comes from passive engagement with connected objects rather than active engagement with content.
The potential realization of this outcome – a “hyperconnected world”
— is testament to the general-purpose nature of the Internet architecture itself, which does not place
inherent limitations on the applications or services that can make use of the technology.

2.3 IoT devices

IoT devices, or any of the many things in the internet of things, are nonstandard computing devices
that connect wirelessly to a network and have the ability to transmit data. Connected devices are part
of a scenario in which every device talks to other related devices in an environment to automate
home and industry tasks, and to communicate usable sensor data to users, businesses and other
interested parties. IoT devices are meant to work in concert for people at home, in industry or in the
enterprise. As such, the devices can be categorized into three main groups: consumer, enterprise and
industrial. A number of challenges can hinder the successful deployment of an IoT system and its
connected devices, including security, interoperability, power/processing capabilities, scalability
and availability. Many of these can be addressed with IoT device management either by adopting
standard protocols or using services offered by a vendor.

Device management helps companies integrate, organize, monitor and remotely manage internet-
enabled devices at scale, offering features critical to maintaining the health, connectivity and
security of the IoT devices along their entire lifecycles. Such features include:

 Device registration

 Device authentication/authorization

 Device configuration

 Device provisioning

 Device monitoring and diagnostics

 Device troubleshooting

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Available standardized device management protocols include the Open Mobile Alliance's Device
Management (OMA DM) and Lightweight Machine-to-Machine (OMA LwM2M). IoT device
management services and software are also available from vendors including Amazon, Bosch Software
Innovations GmbH, Microsoft, Software AG and Xively.

2.4 IOT device connectivity and networking

The networking, communication and connectivity protocols used with internet-enabled devices largely
depend on the specific IoT application deployed. Just as there are many different IoT applications,
there are many different connectivity and communications options. Communications protocols include
CoAP, DTLS and MQTT, among others. Wireless protocols include IPv6, LPWAN, Zigbee, Bluetooth
Low Energy, Z-Wave, RFID and NFC. Cellular, satellite, Wi-Fi and Ethernet can also be used. Each
option has its tradeoffs in terms of power consumption, range and bandwidth, all of which must be
considered when choosing connected devices and protocols for a particular IoT application.To share
the sensor data they collect, IoT devices connect to an IoT gateway or another edge device where data
can either be analyzed locally or sent to the cloud for analysis.

2.4.1 Iot device security

The interconnection of traditionally dumb devices raises a number of questions in relation to security
and privacy. As if often the case, IoT technology has moved more quickly than the mechanisms
available to safeguard the devices and their users. Researchers have already demonstrated remote
hacks on pacemakers and cars, and, in October 2016, a large distributed denial-of-service attack
dubbed Mirai affected DNS servers on the east coast of the United States, disrupting services
worldwide -- an issue traced back to hackers infiltrating networks through IoT devices, including
wireless routers and connected cameras.

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However, safeguarding IoT devices and the networks they connect to can be challenging due to the
variety of devices and vendors, as well as the difficulty of adding security to resource- constrained
devices. In the case of the Mirai botnet, the problem was traced back to the use of default passwords
on the hacked devices. Strong passwords, authentication/authorization and identity management,
network segmentation, encryption, and cryptography are all suggested IoT security measures.
Concerned by the dangers posed by the rapidly growing IoT attack surface, the FBI released the
public service announcement FBI Alert Number I-091015-PSA in September 2015, which is a
document outlining the risks of IoT devices, as well as protections and defense recommendations. In
August 2017, the U.S. Senate introduced the IoT Cybersecurity Improvement Act, a bill addressing
security issues associated with IoT devices. While it is a start, the bill only requires internet-enabled
devices purchased by the federal government to meet minimum requirements, not the industry as a
whole. However, it is being viewed as a starting point which, if adopted across the board, could
pave the way to better IoT security industry-wide.

2.4.2 Basic elements of IoT architecture

Our approach to IoT architecture is reflected in the IoT architecture diagram which shows the
building blocks of an IoT system and how they are connected to collect, store and process data.
Things. A “thing” is an object equipped with sensors that gather data which will be transferred over
a network and actuators that allow things to act (for example, to switch on or off the light, to open or
close a door, to increase or decrease engine rotation speed and more). This concept includes fridges,
street lamps, buildings, vehicles, production machinery, rehabilitation equipment and everything
else imaginable. Sensors are not in all cases physically attached to the things: sensors may need to
monitor, for example, what happens in the closest environment to a thing.
Gateways. Data goes from things to the cloud and vice versa through the gateways. A gateway
provides connectivity between things and the cloud part of the IoT solution, enables data
preprocessing and filtering before moving it to the cloud (to reduce the volume of data for detailed
processing and storing) and transmits control commands going from the cloud to things. Things then
execute commands using their actuators.
Cloud gateway facilitates data compression and secure data transmission between field gateways
and cloud IoT servers. It also ensures compatibility with various protocols and communicates

with field gateways using different protocols depending on what protocol is supported by gateways.

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Streaming data processor ensures effective transition of input data to a data lake and control
applications. No data can be occasionally lost or corrupted.
Data lake. A data lake is used for storing the data generated by connected devices in its natural
format. Big data comes in "batches" or in “streams”. When the data is needed for meaningful
insights it’s extracted from a data lake and loaded to a big data warehouse.
Big data warehouse. Filtered and preprocessed data needed for meaningful insights is
extracted from a data lake to a big data warehouse. A big data warehouse contains only
cleaned, structured and matched data (compared to a data lake which contains all sorts of data
generated by sensors). Also, data warehouse stores context information about things and
sensors (for example, where sensors are installed) and the commands control applications send
to things.
Data analytics. Data analysts can use data from the big data warehouse to find trends and gain
actionable insights. When analyzed (and in many cases – visualized in schemes, diagrams,
infographics) big data show, for example, the performance of devices, help identify
inefficiencies and work out the ways to improve an IoT system (make it more reliable, more
customer- oriented). Also, the correlations and patterns found manually can further contribute
to creating algorithms for control applications.
Machine learning and the models ML generates. With machine learning, there is an
opportunity to create more precise and more efficient models for control applications. Models
are regularly updated (for example, once in a week or once in a month) based on the historical
data accumulated in a big data warehouse. When the applicability and efficiency of new
models are tested and approved by data analysts, new models are used by control applications.
Control applications send automatic commands and alerts to actuators, for example:
 Windows of a smart home can receive an automatic command to open or close depending
on the forecasts taken from the weather service.

 When sensors show that the soil is dry, watering systems get an automatic command to
water plants.

 Sensors help monitor the state of industrial equipment, and in case of a pre-failure situation,
an IoT system generates and sends automatic notifications to field engineers.

The commands sent by control apps to actuators can be also additionally stored in a big data
warehouse. This may help investigate problematic cases (for example, a control app sends

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 commands, but they are not performed by actuators – then connectivity, gateways and actuators
need to be checked). On the other side, storing commands from control apps may contribute to
security, as an IoT system can identify that some commands are too strange or come in too big
amounts which may evidence security breaches (as well as other problems which need
investigation and corrective measures).

Figure 2.8: IoT-architechture

2.5 IoT and robotics

Bringing IoT to a factory floor is as much about robots as it is about any other class of device. Meanwhile,
robots are more attractive in their own right because labor costs are rising globally.

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Although robotics for automation generally focuses on movement and manipulations, IoT and robotics
involves a world of devices in the field -- devices that depend on electronic sensors and software. “A
lot of companies have outsourced for low-cost labor, but labor in China is going up in cost by 15% a
year," said Jim Lawton, COO at Rethink Robotics Inc., a company that focuses on designing robots
that work well with humans. In fact, he noted, almost every manufacturing company he has spoken
with in recent years complains about the lack of labor; temporary help firms are hired to bring in
workers and by lunch time, half of them are gone. "The average age of workers in manufacturing is 58
because it isn't a field millennials even think about," he added. As a result, companies are desperate to
address the problem -- and despite capital costs and limits on the technology, they are increasingly
investing in robotics for automation. In turn, those robotic investments are often matched and
sometimes melded with investments in smarter, IoT-equipped factories.

"From where I sit, it is clear that all the major robotics companies are very involved in IoT efforts,"
said Jeff Burnstein, president of the Association for Advancing Automation, parent group of the
Robotic Industries Association. For example, he said, robotics giant Fanuc is focusing on delivering
zero-downtime robots that can alert management when a breakdown is imminent and better schedule
their own maintenance. IoT sensors are the key to this emerging and important capability, he noted.
Likewise, ABB, another big force in robotics, is emphasizing the future "digital factory," which builds
on IoT capabilities integrated with robotic devices. Smaller companies within the user community
remain overwhelmed by both IoT and robotics and are still largely unsure about what to do.

2.6 The UGV on prospective of Bangladesh

There is often terrible fire incident from gas leakage In such a situation, there is also example of a
whole burnt to burnt in Bangladesh. Many people have to burn in the burn unit for the first time. In the
year 2014-2015 it has increased to 5123. Experts and officials concerned have said that negligence
in ensuring fire safety measures and rampant breach of the existing building law and code are
increasing fire incidents in Dhaka city. They also blamed slack monitoring by the officials
concerned regarding fire protection and irregularities in

16
clearing multi-storey building projects that lack proper or minimum fire safety standards, for the
situation. According to them, the fire service also needs to increase the capacity of its manpower
and logistic support, to help ward off any worse situation. The experts and officials made the
comments following Thursday’s fire at a 22 -storey Banani building that snuffed out at least 19
lives.

Fire fighting is an important job but it is very dangerous occupation. Due to that, Robots are designed
to find a fire, before it rages out of control. It could be used to work with fire fighters to reduce the risk
of injury to victims. This paper presents the Fire Fighting Robot competition that purposely to simulate
the real-world operation of an autonomous robot to rescue 10 victims (table tennis balls) and stop 5
fires (emergency candles) in a house within three minutes. The robot development is consisting of
three elements which is the hardware, electronic, and programming. The robot has two DC motor, two
for driving system and another single DC motor for ball suction subsystem and the fire blowing
subsystem. Various sensors are also interfaced with PIC16F877A as a feedback to the robot such as
photoelectric sensors, fiber optic sensor and RGB color sensors. Mobile display also gives the
graphical information of the robot status to the user. For the programming part, C language is used to
determine the robot action gain from the sensors input.

2.7 Applications of internet controlled UGV

 Official purpose: In every office, factories & industries have fire reducing systems. So UGV
is can be used there in the replacement or with the conventional system.

 Educational purpose: In any school, college & University it can be used for the students
safety.

 On Airport or Rail station: In airport or rail way station they can use the UGV for
inspection.

 Public service: It is also can be used for the public service. Now a day’s governments notify
with lot of problems. It can monitor and make survey and notify problems instantly.

17
2.8 Available UGV categories

Heavy and Medium-Weight Unmanned Ground Vehicles Developed by or on Behalf of All of the
Services
Name Weight Use Traction Status
(tons)
Heavy
Abrams Panther/SRS More than Mine clearance Tracked 6
40 deployed
AOE 34 Explosive ordnance Tracked Prototype
disposal
D7G/SRS 28 Mine clearance; Tracked Prototype
excavation
DEUCE/SRS 18 Mine clearance; Tracked Prototype
excavation
Medium
T3 Dozer/SRS 9 Bulldozer Tracked Prototype
Smoke HMMWV 6 Obscuration Wheeled Prototype
ARTS-FP 4 Explosive disposal Tracked 20 in use
DEMO III XUV 1.50 Experimentation Wheeled Prototype
Mini-Flail/Robotic Combat Support 1.25 Mine clearance Tracked 15 in use
System

18
 Chapter Three
DESIGN EQUIPMENT

19
3.1 Design Component
To make this project automatic a processor is needed. So here used an ESP-32 which
contain Tensilica Xtensa LX6 microprocessor and ESP-WROOM-32. Secondly to
operate this system remotely we used a cloud basis network using Blynk Application,
which can be use with any internet useable device connected to the ESP32. With 250W
induction motor we can run the UGV anonymously in rough surface also as well as
various sensor make the UGV super intelligent of prospective of Bangladesh. And for
spectateing here we used FIFO camera module and Electric Microphone.

3.2 Required Component list

SL Name Qua
NO ntity
01 ESP-32 1P
02 250W Gear Motor 1P
03 12 Volt Battery 2P
04 12 Volt Relay 4P
05 My1016z2 Motor controller 2P
06 Resistor (120Ohm and 320 Ohm) 1P

07 Diode IN4007 4P
08 MQ7 Carbon monoxide gas sensor 1P
09 Temperature Sensor built in ESP32 1P
10 Touch sensor included built in ESP32 1P
11 Metal Detector sensor 1P
12 Sonar Sensor 1P
13 OV7670 V1.0 FIFO Camera Module 1P
14 Electric Microphone 1P
15 Capacitor 4P
16 Transistor BC548 4P
17 Servo Motor 2P
18 Connecting wire NA

Table 2.1: Required Component list

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 3.2.1 ESP-32

ESP32 is a series of low-cost, low-power system on a chip microcontrollers with

integrated Wi-Fi and dual-mode Bluetooth. The ESP32 series employs a Tensilica Xtensa
LX6 microprocessor in both dual-core and single-core variations and includes in-built
antenna switches, RF balun, power amplifier, low-noise receive amplifier, filters, and
power-management modules. ESP32 is created and developed by Espressif Systems, a
Shanghai-based Chinese company, and is manufactured by TSMC using
the ESP8266 microcontroller and power management module. The entire solution takes
up the least amount of printed circuit board area. This board is used with 2.4 GHz dual-
mode Wi-Fi and Bluetooth chips by TSMC 40nm low power technology, power and RF
properties best, which is safe, reliable, and scalable to a variety of applications.

Figure 2.1: ESP32 module

21
 Figure 2.2: Pin Diagram of ESP32 module

3.2.2 250W Gear Motor

A motor with only armortisseur windings is called an induction motor. An induction

motor is the most modest electrical machine from constructional point of view, in the
majority of the cases. Induction motor works on the principle of induction where electro-
magnetic field is induced into the rotor when rotating magnetic field of stator cuts the
stationary rotor. Induction machines are by far the most common type of motor used in
industrial, commercial or residential settings. This induction motor includes a gear box in
it which gives it high power and capability.
 Type: Gear Motor
 Usage: Electric Bicycle
 Model Number: MY1016Z2
 Protect Feature: Totally Enclosed
 Continuous Current(A):13.4A
 Construction: Permanent Magnet
 Torque:0.80N.m
 Commutation: Brush
 Output Power:250W

22
 Voltage: 24V
 carrying capacity:80kg
 Motor weight:2.34KG
 Fixed aperture:42-95mm(4 holes)

Figure 2.3: 250W Induction Motor.

3.2.3 24V Motor Controller

A motor controller is a device or group of devices that serves to govern in some
predetermined manner the performance of an electric motor. A motor controller might
include a manual or automatic means for starting and stopping the motor, selecting forward
or reverse rotation, selecting and regulating the speed, regulating or limiting the torque,
and protecting against overloads and faults.

Figure 2.4: Motor Controller.

23
Main technique parameter:

Controller type: Brush type

Rated voltage: 24V
Rated power: 350W
Throttle potential: 5V
Under-voltage protection: 19-20.5V
Current limiting protection: 20A-23A
Adaptation motor: 24V350W
Ambient temperature:-20℃--45 ℃
Brake potential: Low level brakes
Size: 9*6.9*3.7cm

3.2.4 Relay (5V)

A relay is an electrically operated switch. Many relays use an electromagnet to

mechanically operate a switch, but other operating principles are also used, such as solid-
state relays. Relays are used where it is necessary to control a circuit by a separate low
power signal, or where several circuits must be controlled by one signal. The first relays
were used in a long distance telegraph circuit as amplifiers; they repeated the signal
coming in from one circuit and re-transmitted it on another circuit. Relays were used
extensively in telephone exchanges and early computers to perform logical operations.
Magnetic latching relays require one pulse of coil power to move their contacts in one
direction, and another, redirected pulse to ove them back, Repeated pulses from the same
input have no effect. Magnetic latching relays are useful in applications where interrupted
power should not be able to transition the contacts.
Application of Relay: The typical application s of electromechanical relays include
motor control, automotive applications such as an electrical fuel pump, industrial
applications where control of high voltage and current is intended, controlling large
power loads, and so on. Application of relay given below-
 Commonly used in switching circuit

24
  For home Automation projects to switch AC loads
 To Control (on/off) Heavy loads at a pre-determined time/condition
 Used in safety circuit to disconnect the load from supply in event of failure
 Used in Automobiles electronics for controlling indicators glass motor etc.

Figure 2.5: Relay

Relay pin configuration:

Figure 2.6: Pin diagram of Relay

25
Relay pin configuration

Pin Pin Name Description

Number
1 Coil End 1 Used to trigger (on/off) the relay,
Normally, one end is connected to
5v and the other end to ground.
2 Coil End 2 Used to trigger (on/off) the relay,
Normally, one end is connected to
5v and the other end to ground.
Common(COM) Common is connected to one end
of the Load that is to be controlled.
4 Normally Close(NC) The other end of the load is either
connected to NO or NC. If
connected to NC the load remains
connected before trigger.
5 Normally Open(NO) The other end of the load is either
connected to NO or NC. If
connected to NO the load remains
disconnected before trigger.

Table 2.2: Relay pin configuration

3.2.5 Transistor BC548

Transistor is a semiconductor device used to amplify or switch electronic signals

and electrical power. It is composed of semiconductor material usually with at least
three terminals for connection to an external circuit. A voltage or current applied to one
pair of the transistor's terminals controls the current through another pair of terminals.
Because the controlled (output) power can be higher than the controlling (input) power, a
transistor can amplify a signal. Today, some transistors are packaged individually, but
many more are found embedded in integrated circuits.

26
 Figure 2.7: Transistor BC548

Specification of Transistor (BC548)

3.2.5.1 Collector–Emitter Voltage:30V DC
3.2.5.2 Collector–Base Voltage:30V DC
3.2.5.3 Emitter–Base Voltage:6V DC
3.2.5.4 Collector Current — Continuous:100mA DC

3.2.6 Resistor

A resistor is a passive two-terminal electrical component that implements electrical

resistance as a circuit element. In electronic circuits, resistors are used to reduce current
flow, adjust signal levels, to divide voltages, bias active elements, and
terminate transmission lines, among other uses. High-power resistors that can dissipate
many watts of electrical power as heat, may be used as part of motor controls, in power
distribution systems, or as test loads for generators. Fixed resistors have resistances that
only change slightly with temperature, time or operating voltage. Variable resistors can
be used to adjust circuit elements (such as a volume control or a lamp dimmer), or as
sensing devices for heat, light, humidity, force, or chemical activity.

27
 Figure 2.8: Resistor(320ohm & 120ohm)

3.2.7 Diode IN4007

Diode, an electrical component that allows the flow of current in only one direction.
In circuit diagrams, a diode is represented by a triangle with a line across one vertex. The
most common type of diode uses a p-n junction. In this type of diode, one material (n) in
which electrons are charge carriers abuts a second material (p) in which holes (places
depleted of electrons that act as positively charged particles) act as charge carriers. At
their interface, a depletion region is formed across which electrons diffuse to fill holes in
the p-side. This stops the further flow of electrons. When this junction is
forward biased (that is, a positive voltage is applied to the p-side), electrons can easily
move across the junction to fill the holes, and a current flows through the diode. When
the junction is reverse biased (that is, a negative voltage is applied to the p-side), the
depletion region widens and electrons cannot easily move across. The current remains
very small until a certain voltage (the breakdown voltage) is reached and the current
suddenly increases. Light-emitting diodes (LEDs) are p-n junctions that emit light when a
current flows through them.

Figure 2.9: Diode.

28
 Specification of Diode:

3.2.7.1 Semiconductor material (Silicon, Germanium)

3.2.7.2 Forward voltage drop, V
3.2.7.3 Maximum forward current
3.2.7.4 Leakage current
3.2.7.5 Junction capacitance

3.2.8 MQ7 Carbon monoxide gas sensor

This sensor module is made using MQ7, a low cost semiconductor sensor which can
detect the presence of carbon monoxide gas at concentrations from 20 to 2000 ppm. The
sensitive material used for this sensor is SnO2, whose conductivity is lower in clean air.
MQ7 Carbon monoxide gas sensor can be easily interfaced with Microcontrollers,
Arduino Boards, Raspberry Pi etc using an Analog to Digital Converter (ADC).

Figure 2.10: Gas sensor

Specification of gas sensor:

 Low Cost
 High Sensitivity to Carbon monoxide
 Stable and Long Life
 Both digital and analog outputs

29
 On-board LED indicator

Applications
 Carbon monoxide gas detector
 Industrial CO detector
 Portable gas detector

3.2.9 Temperature sensor included with ESP

The Hall-effect sensor is a transducer which, when applied under a magnetic field, responds with
a change in its output voltage. With an appropriate format, this deviation causes the Hall Voltage
to be generated, and this can be harnessed by an external circuit, and that is what Hall sensors do.
Hall voltage can be measured by an external circuit or used for sensing purposes, as it is
proportional to the intensity of the field it creates.

3.2.10 Touch sensor included with ESP

A very interesting feature of ESP32. We use this which opens and closes according to the touch
of our hand. We are showing an imported example, but this technology already exists in Brazil,
including other types of devices. We already have support for Arduino IDE today. Our finger can
activate it.

3.2.11 Metal Detector Sensor

A metal detector is an electronic instrument which detects the presence

of metal nearby. Metal detectors are useful for finding metal inclusions hidden within
objects, or metal objects buried underground. They often consist of a handheld unit with
a sensor probe which can be swept over the ground or other objects

30
 Figure 2.11: Metal detect sensor

3.2.12 Sonar Sensor

An Ultrasonic sensor is a device that can measure the distance to an object by using
sound waves. It measures distance by sending out a sound wave at a specific frequency
and listening for that sound wave to bounce back

Figure 2.12: Sonar sensor

3.2.13 Camera Module OV7670 V1.0 FIFO

The OV7670-FIFO Camera Module is a small, low operating voltage and provides all
functions of a single chip of VGA camera and image processor. Through SCCB bus

31
 control, the sensor can output the whole frame, sampling, and various resolution 8 bits of
data. The product VGA image can reach up to a maximum of 30 frames per second.
Users can completely control the image quality, data format and transmission mode. All
the process of image processing functions can
through the SCCB programming interface, including gamma curve, white balance,
saturation and chroma.

Figure 2.13: Camera Module OV7670 V1.0 FIFO

Features

 High sensitivity for low light operation.

 Low operating voltage for embedded portable apps.
 Standard SCCB interface is compatible with 12C interface.
 Lens shedding correction
 Supports Scaling.
 De-noise level auto adjust.

3.2.14 Electric Microphone

This small breakout board couples a small electret microphone with a 100x opamp to
amplify the sounds of voice, door knocks, etc loud enough to be picked up by a
microcontroller’s Analog to Digital converter. Unit comes fully assembled as shown.
Works from 2.7V up to 5.5V.

32
 Figure 2.14: Electric Microphone

3.2.15 Capacitor

Capacitor is an electronic component that stores electric charge. The capacitor is made of
2 close conductors (usually plates) that are separated by a dielectric material. The plates
accumulate electric charge when connected to power source. One plate accumulates
positive charge and the other plate accumulates negative charge. The capacitance is the
amount of electric charge that is stored in the capacitor at voltage of 1 Volt. The
capacitance is measured in units of Farad (F). The capacitor disconnects current in direct
current (DC) circuits and short circuit in alternating ac currents.

Figure 2.15: Capacitor

33
 3.2.16 Lead Acid Battery 12V

A battery is a device that produces electrons through electrochemical reactions, and

contains positive (+) and negative (-) terminals. A battery consists of one or more
electrochemical cells, which transform stored chemical energy directly into electrical
energy. When an external load connects to a battery, electrons cross from the negative to
the positive terminal, creating an electrical current. This current may power a motor, a
light bulb, a clock, a computer, a cell phone, and other electronic devices or equipment.
Battery flow speed is determined by the battery’s internal resistance and outside load.

Figure 2.16: lead acid battery 12V

3.2.17 Servo Motor

A servomotor is a rotary actuator or linear actuator that allows for precise control of
angular or linear position, velocity and acceleration. It consists of a suitable motor
coupled to a sensor for position feedback. It also requires a relatively sophisticated
controller, often a dedicated module designed specifically for use with servomotors.

34
 Figure 2.17: Servo motor.

This high-speed standard servo can rotate approximately 120 degrees (60 in each
direction) specification :
3.2.17.1Weight: 1.78oz / 48g (Servo Net Weight Only) Operating Speed (4.8V
no load) : 0.17sec
3.2.17.2 Dimensions: 1.57" x 0.79" x 1.44" (40 x 20 x 36.5mm)
3.2.17.3 Operating Speed (6.0V no load) : 0.13sec / 60 degrees
3.2.17.4 Stall Torque (4.8V): (13kg/cm) (180oz/in.)
3.2.17.5 Stall Torque (6.0V): (15kg/cm) (208oz/in.)
3.2.17.6 Temperature Range: -30 to +60 Degree C
3.2.17.7 Dead Band Width: 4usec
3.2.17.8 Operation Voltage: 3.5 - 8.4Volts
3.2.17.9 PWM Period:20ms (50 Hz)

3.2.18 Power module

This is the combined buck (step down) and boost (step up) converter based on LM2587
IC. Provide any input voltage between 3V- 35V and you can adjust the output voltage anything
between 1.5V- 30V.

35
It doesn't matter if the input voltage is higher, equal or lower than then output voltage. There's no
reverse voltage polarity protection at the IN+ and IN- pins.
Specification
Input Voltage: 3V - 35V
Out-Put Voltage: 1.25V - 30V
Output Current: 2A (Test Condition: Input 9V - 35V, Output 12V)
3A (Test Condition: Input 9V - 35V, Output 5V)
Operating temperature: -40 °C to 85 °C
Max voltage regulation: ± 0.5%
Short circuit Protection (output): Yes (10 seconds)
Input reverse polarity protection: None
PCB Size: 49mm X 23mm (l X b)

Figure 2.18: power module

3.2.19 Connecting wire

Connecting wires allows an electrical current to travel from one point on a circuit to
another because electricity needs a medium through which it can move. Most of the
connecting wires are made up of copper or aluminum. Copper is cheap and good

36
conductivity. Instead of the copper, we can also use silver which has
high conductivity but it is too costly to use.

Figure 2.18: Connecting Wire

37
 Chapter Four
METHODOLOGY

38
4.1 Circuit Concept

The circuit concept is little bit complex. Here a ESP-32 with Tensilica Xtensa LX6
microprocessor is used due to the purpose of processing the whole system automatically. A smart
phone needed where we can install the Blynk App, by which we can control and monitor the
whole system . The Blynk App shows the live video and audio output from the system we get.
Also there we made a virtual joystick to control the robot in every direction like right-left, front-
back. The levels of the temperature will shown in our mobile display with the Blynk App. And
the main concept is here The IoT. So the UGV is controlled over a cloud server which is the main
reason to make the UGV reliable to control and monitor from any distance or any place remotely.
The 250W induction motor give the robot high power to run anonymously in rough surface.
Those induction motor controlled by the ESP32 and a motor controller is made with basic
electronic component to give those motor efficient speed control and enough current and voltage
when needed. Other electronics components like resistors, capacitors, connecting wire etc are
used to do necessary function.

4.2 Software and tools

As a software we used here arduino IDE software for writing the code and for controlling
the UGV we used the open source software Blynk. Which can found in the android play
store or also ISO store.

4.2.1 Arduiono IDE

The open-source Arduino Software (IDE) makes it easy to write code and upload it to the board.
It runs on Windows, Mac OS X, and Linux. The environment is written in Java and based on
processing and other open source software. This software can be used with any Arduino board.

The source code for the IDE is released under the GNU General Public License, version 2. The
Arduino IDE supports the languages C and C++ using special rules of code structuring. The
Arduino IDE supplies a software library from the writing project, which provides many common
input and output procedures. User-written code only requires two basic functions, for starting the

39
sketch and the main program loop, that are compiled and linked with a program stub main() into
an executable cyclic executive program with the GNU tool chain, also included with the IDE
distribution. The Arduino IDE employs the program avr-dude to convert the executable code into
a text file in hexadecimal encoding that is loaded into the Arduino board by a loader program in
the board's firmware.

4.2.2 Blynk
Blynk was designed for the Internet of Things. It can control hardware remotely, it can display
sensor data, it can store data, visualize it and do many other cool things.
There are three major components in the platform:
 Blynk App - allows to you create amazing interfaces for your projects using various widgets
we provide.
 Blynk Server - responsible for all the communication between the smartphone and
hardware. You can use our Blynk Cloud or run your private Blynk server locally. It’s open-
source, could easily handle thousand of devices and can even be launched on a Raspberry Pi.

40
 Blynk Libraries - for all the popular hardware platforms - enable communication with the
server and process all the incoming and out coming commands.

Figure 4.1: Blynk System overview

Figure 4.2: UGV controller layout on Blynk

41
4.3 Overview of the total system

To realize the proposed Internet Controlled UGV the following prototype model has been
developed in the laboratory. It consists ESP32, 250W induction motor, self designed wheel,
motor controller, FIFO camera module and electric microphone and other sensor is used for
testing the proposed methodology. The for making the high temperature absorbed structure we
used nickel based super alloy material which gives the UGV of capacity to tolerate 1000-1400
degree Celsius temperature.

The design procedure involves identifying the different components and assembling all of them
and ensuring safe interfacing between all these components. Then coding process has to be done,
which has to take care of the deferrals between two successive communications and most
importantly the authentication of the IoT server which is maintaining with the Blynk app here.
This Blynk app enables the multiple users can operate the UGV.

4.4 Working procedure with block diagram

The figure 2.1 showed below represents the total system. There is an ESP32 having a Tensilica
Xtensa LX6 microprocessor who drivers all the components and make connection to the cloud
server. When user get connected to the ESP32 with a cloud server by the Blynk app he can run
the UGV, can observe with live streaming video and have all control over it remotely. ESP32 get
signals from the cloud server, where user send the signals with mobile app which is conneted to
that cloud server. ESP32 get signals and transfer it to other component to make it work. Like
when the user wants to run the UGV, the motor controller gets signal from ESP32 and give power
to the motor to run the UGV. This communication is done using ESP-WROOM-32 & Blynk app
and some coding has to be done to make connected the both ESP32 and Blynk app in one cloud
server. After processing this coding this mobile app convert it to digital signal and send it to the
server, server transferred the digital signals to connected ESP32. The ESP32 receives the digital
signal and make further processing to authenticate it for the right component.

42
 Power supply

Mobile app

Gas sensor

Motor Motor
Temperatur
e sensor controller
Motor
ESP32
Camera Live
Sonar
stream
Sensor

Metal Wifi Cloud

Sensor server

Figure 4.3: Internet Controlled UGV(Un-named Ground Vehicle)

4.5 Circuit Diagram

The following circuit diagram shows in the figure 4.3 is describes the entire process of controlling
the 250W induction motor. Where we showed the 250W induction motor is connected with the
24V power supply. And for direction controlling 4 channel relay connected with the controller
and the is connected in the COM pin of relay. From ESP32 signals are giving to the relay to
operate and change the direction of the motor. And the acceleration pin of the controller is
connected with the ESP32 where we can control the speed of the motor with the esp32 using
blynk.

43
Figure 4.4: Circuit Diagram of controlling motor

44
Figure 4.5: Circuit diagram of relay operations

Figure 4.6: Sensor connections with ESP32

45
 Chapter Five
PRACTICAL
IMPLEMENTTATION

46
5.1 Experimental Setup

In this project it is made to design and implement “Internet Controlled Multifunctional UGV”.
The first step was to check theESP32 by uploading a basic blink code in it that it is working with
the ESP32 library and Blynk library. And then connect motor controller through relay described
in section 4.5 and check those 250W Motors are working with the library or not. Then it needed
to configure with the FIFO camera module and microphone with ESP32 and made connection
with the Blynk app for live streaming in it. After that we connect the sensors like gas sensor,
sonar sensor , temperature sensor with ESP32 and observed it, that is able to collect and send data
to user. After that we done some mechanical work. We added a fire extinguisher and made a
mechanism using MG995 servo motor to spray the fire extinguisher to the target place. And
finally it assembled with all the ESP32, FIFO camera module, 250W induction motor, spray
mechanism with servo motor and made a control for user with the open source mobile application
Blynk.

5.2 Experiments and Observation

Experiment 1

Figure 5.1: Testing motors with controller and relay channels.

47
Firstly, it was checked the ESP32. From the Arduino IDE: File>Examples>Basic>Blink;
uploaded the code in it and it works nicely.
Experiment 2

Figure 5.2: Making mechanical setup.

48
For the efficient performance we made a mechanical design. And when we see it the circuit with
the application works we implement the mechanical setup.

Experiment 3

Figure 5.3: Final overview of the project

The connection and the working process are given below.

Connection:
Header (5 Pins) ESP32 (pins)
VCC 5V
GND GND
Controller derailleur pin D18
Relay IN1 D19
Relay IN2 D20
Relay IN3 D21
Relay IN4 D22
Sensor pin1 D23
Sensor pin2 D24

49
Working Process:

* Downloaded the ESP32 library file from GitHub espressif/arduino-esp32.

. Install it in Arduino IDE.
* Downloaded the Blynk library from GitHub.
* Copied the folder espressif and blynk folder & pasted to Arduino libraries (C:\Program
Files (x86)\Arduino\libraries)
* Finally Tested the written Code for the UGV functions & upload it.

At last, the project gave our expected result. The ESP32 has to be connect with wifi and then we
opened the Blynk app in our mobile and login to our account and further controlling layout comes
with the live video streaming output. There we can see 4 buttons to move around the UGV and a
slider to control the speed of the UGV. Another button was added to spray the extinguisher to the
target place. And there was a screen which showed real time live video and audio what we getting
from our UGV integrated camera and microphone.

5.3 Result and Validation

After finishing the whole task, it gives the results given below:
5.3.1 Can observe real time video and audio.
5.3.2 Can detect temperature and is it higher than 1000 degree Celsius it alarms.
5.3.3 Can control speed of the motors by which we get the required speed when what we
need.
5.3.4 Can spray the fire extinguisher to the target place.
5.3.5 Can show it to the display of Blynk app.

50
5.4 Limitation

 The cost of per induction motor is high. We can use lower capacity motor. But we used that
for better performance.

 Our designed structure had some limitations that it can not move to the upstairs of the
buildings. We will make better design for over come this limitation.

 From the experimental value it consumes power P = 24V*10.41A = 250W. This is a burden
as compared to the power limitations of our country.

 And used Nickel Based super alloy material is also so much costly to use for structure.

 Also the ESP32 used 160MHz as typical frequency which is good but not so fast which
make some legging to the live stream video and in further control.

51
 5.5 Cost Estimation

Cost Estimation Table

Serial no. Item name Quantity Price in BDT
01 ESP32 01 BDT750.00
02 250W induction motor 02 BDT6000.00
03 Servo motor 02 BDT800.00
04 12 volt lead acid battery 02 BDT2000.00
05 4 channel relay 01 BDT250.00
06 Connecting Wires 01 BDT50.00
07 Motor Controller 02 BDT1000

08 Fire Extinguisher 01 BDT900

09 Material and structure 01 BDT2000

10 Other Costs 01 Approximately BDT500

Total Cost BDT14,255.00

Table 5.3 : Cost estimation

52
53
 Chapter Six
CONCLUSION

54
6.1 Conclusion

The design method offers an efficient way for the Internet controlled UGV. It was not possible to
compare this design with commercially available designs due to their high price. cannot say
exactly how much better our system performs but considering the steps involved in each methods,
it can be said that this approach is considerably better than others. This system is based on
Microprocessor ESP32 technology which interacts with the autonomous system so that the
revolutionary changes will occur on the conventional coded line. The main purpose of our project
is to build a low cost internet controlled UGV surveillance robot for the use of danger situation. It
can protect human by detecting obstacle. Cannot say that how much exactly how much better our
system performs but considering the steps involved in each method. It can be said that this system
is considerably better than others. This system is based on ESP32 module. This purposed system
is used to build an IOT based UGV surveillance robot. This robot can use in many purpose like
military, spy, and industries etc. The ending of this project is simple where make it so easy. Our
system design will be upgraded more in future.

The implementation of iot controlled UGB surveillance robot can make enormous change in
military, industry and in danger situation. It can protect a human life in danger situation by
detecting human. The practical implementation of our project are immense and can have a huge
level of implementation. It makes very curious to work such a challenging project which has
tremendous application and possibilities. This project is recommends to military person, Spy, and
fire service man. The design of our system will be upgraded more in future and that can provide a
dramatic change to coming generations.

6.2 Scope for future work

1. Can be save the videos and audio data.

2. Can be added more functional features for the upgraded generation.
3. Can extend the display section.
4. Can improve the system structure for better performance.
5. Can be solve the legging problems with better modules and wifi connections.

55
REFERENCES

56
References

6. https://en.wikipedia.org/wiki/Transistor

7. https://en.wikipedia.org/wiki/Resistor

8. https://www.britannica.com/technolhttps://www.electronics-
notes.com/articles/electronic_components/diode/specifications-
parameters- ratings.phpogy/diode

9. https://www.techshopbd.com/product-categories/transistor/264/bc548-npn-transistor-
techshop-bangladesh

10. https://www.rapidtables.com/electric/capacitor.html

11. https://www.elprocus.com/induction-motor-types-advantages/

12. https://buddymantra.in/connecting-wires/

13. http://cmra.rec.ri.cmu.edu/content/electronics/boe/ultrasonic_sensor/1.html

14. https://bdspeedytech.com/index.php?route=product/product&product_id=231

15. https://en.wikipedia.org/wiki/Servomotor

16. https://www.techshopbd.com/product-categories/motors/2940/servo-motor-
mg995- techshop-bangladesh

17. https://www.techshopbd.com/product-categories/wireless/2809/esp32-
development- board-techshop-bangladesh

18. https://www.robotshop.com/en/ov7670-fifo-camera-module.html

57
Appendix

58
Appendix

The Code for ESP32 and Blynk with arduino IDE:

//#include <TridentTD_analogWrite32.h>

/**************************fff*********************

**************

Download latest Blynk library here:

https://github.com/blynkkk/blynk-

library/releases/latest

Blynk is a platform with iOS and Android

apps to control

Arduino, Raspberry Pi and the likes over

the Internet.

You can easily build graphic interfaces for

all your

projects by simply dragging and dropping

widgets.

Downloads, docs,

tutorials: http://www.blynk.cc

Sketch generator:

http://examples.blynk.cc

Blynk community:

http://community.blynk.cc

Follow us:

http://www.fb.com/blynkapp
59
 http://twitter.com/blynk_app

Blynk library is licensed under MIT license

This example code is in public domain.

*************************************************

************

You’ll need:

- Blynk App (download from AppStore or

Google Play)

- ESP32 board

- Decide how to connect to Blynk

(USB, Ethernet, Wi-Fi, Bluetooth, ...)

There is a bunch of great example

sketches included to show you how to get

started. Think of them as LEGO bricks

and combine them as you wish.

For example, take the Ethernet Shield

sketch and combine it with the

Servo example, or choose a USB sketch

and add a code from SendData

example.

*************************************************

************/

/* Comment this out to disable prints and

60
save space */

#define BLYNK_PRINT Serial

#include <WiFi.h>

#include <WiFiClient.h>

#include <SPI.h>

//#include "esp32-hal-ledc.h"

//#include <TridentTD_analogWrite32.h>

#include <BlynkSimpleEsp32.h>

// You should get Auth Token in the Blynk

App.

// Go to the Project Settings (nut icon).

char auth[] =

"KN5cT5JbrFjVjkK4OW0Wx3qtfhM8S7nh";

// Your WiFi credentials.

// Set password to "" for open networks.

char ssid[] = "Iqbal";

char pass[] = "zzzzzz4444";

#define RightMotorF 14 //back

#define LeftMotorF 26 //front

#define RightMotorB 27 //front

#define LeftMotorB 25 //back

#define RightMotorSpeed 14

#define LeftMotorSpeed 35

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//uint8_t pin = 4;

const int freq = 30000;

const int pwmChannel = 0;

const int resolution = 8;

int dutyCycle;

WidgetMap myMap(V5);

void setup()

// Debug console

Serial.begin(115200);

Blynk.begin(auth, ssid, pass);

// TridentTD::analogWrite( pin, 120 );

//ledcSetup(1, 50, 16);

//ledcAttachPin(34, 1);

pinMode(RightMotorF, OUTPUT);

pinMode(LeftMotorF, OUTPUT);

pinMode(RightMotorB, OUTPUT);

pinMode(LeftMotorB, OUTPUT);

pinMode(RightMotorSpeed, OUTPUT);

pinMode(LeftMotorSpeed, OUTPUT);

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 digitalWrite(RightMotorF, LOW);

digitalWrite(LeftMotorF, LOW);

digitalWrite(RightMotorB, LOW);

digitalWrite(LeftMotorB,LOW);

//digitalWrite(RightMotorSpeed, LOW);

// digitalWrite(LeftMotorSpeed, LOW);

// configure LED PWM functionalitites

ledcSetup(pwmChannel, freq, resolution);

// attach the channel to the GPIO to be

controlled

ledcAttachPin(RightMotorSpeed,

pwmChannel);

int index = 1;

float lat = 51.5074;

float lon = 0.1278;

myMap.location(index, lat, lon, "value");

// You can also specify server:

//Blynk.begin(auth, ssid, pass, "blynk-

cloud.com", 80);

//Blynk.begin(auth, ssid, pass,

IPAddress(192,168,1,100), 8080);
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}

/*BLYNK_WRITE(V5) {

//==============================for

ward

int pinValueA = param.asInt();

int pinValueB = param.asInt();

// Serial.println(pinValuef);

digitalWrite(27, pinValueA);

digitalWrite(26, pinValueB);

*/

BLYNK_WRITE(V1)

int pinValueV1 = param.asInt();

if (pinValueV1 == 1) {

forward();

else if(pinValueV1==0) {

stopp();

}
64
}

BLYNK_WRITE(V2) {

int pinValueV2 = param.asInt();

if (pinValueV2 == 1) {

backward();

else if(pinValueV2==0) {

stopp();

BLYNK_WRITE(V3) {

int pinValueV3 = param.asInt();

if (pinValueV3 == 1) {

right();

else if(pinValueV3==0) {

stopp();

65
BLYNK_WRITE(V4) {

int pinValueV4 = param.asInt();

if (pinValueV4 == 1) {

left();

else if(pinValueV4==0) {

stopp();

BLYNK_WRITE(V6) {

/* int pinValueV6 = param.asInt();

//Serial.print("V6 Slider value is: ");

//Serial.println(pinValueV6);

int Speed = map(pinValueV6, 0, 1023, 0,

255);

if (Speed > 250) {

digitalWrite(RightMotorSpeed, HIGH);

Serial.println(Speed);

else if(Speed < 150 ) {

digitalWrite(RightMotorSpeed, LOW);
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 } */

//analogWrite(4, param.asInt());

//ledcWrite(34, param.asInt() );

int pinValueV6 = param.asInt();

int dutyCycle = map(pinValueV6, 0, 1023,

200, 255);

ledcWrite(pwmChannel, dutyCycle);

Serial.println(dutyCycle);

/*BLYNK_WRITE(V2) {

//================================

=back

int pinValueb = param.asInt();

Serial.println(pinValueb);

digitalWrite(14, pinValueb);

digitalWrite(25, pinValueb);

} */
67
void loop()

Blynk.run();

// You can inject your own code or

combine it with other sketches.

// Check other examples on how to

communicate with Blynk. Remember

// to avoid delay() function!

void forward() {

digitalWrite(RightMotorF, LOW);

digitalWrite(LeftMotorF, HIGH);

digitalWrite(RightMotorB, HIGH);

digitalWrite(LeftMotorB, LOW);

void backward() {

digitalWrite(RightMotorF, HIGH);

digitalWrite(LeftMotorF, LOW);

digitalWrite(RightMotorB, LOW);

digitalWrite(LeftMotorB, HIGH);

void right() {

digitalWrite(RightMotorF, HIGH );
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 digitalWrite(LeftMotorF, HIGH);

digitalWrite(RightMotorB, LOW);

digitalWrite(LeftMotorB, LOW);

void left() {

digitalWrite(RightMotorF, LOW);

digitalWrite(LeftMotorF, LOW);

digitalWrite(RightMotorB, HIGH);

digitalWrite(LeftMotorB, HIGH);

void stopp() {

digitalWrite(RightMotorF, LOW);

digitalWrite(LeftMotorF, LOW);

digitalWrite(RightMotorB, LOW);

digitalWrite(LeftMotorB, LOW);

69