e-ISSN: 2582-5208

International Research Journal of Modernization in Engineering Technology and Science

( Peer-Reviewed, Open Access, Fully Refereed International Journal )
Volume:05/Issue:04/April-2023 Impact Factor- 7.868 www.irjmets.com

IOT BASED REMOTELY CONTROLLED SURVEILLANCE ROBOT

Chitra Upasni*1, Namrata Alhat*2, Sanskruti Swami*3, Trupti Sarode*4,
Prof. Sheetal Waghchaware*5
*1,2,3,4,5Dept. Electronics & Telecommunication, Keystone School of Engineering,Pune, Maharashtra, India.
DOI : https://www.doi.org/10.56726/IRJMETS37634
ABSTRACT
Security and monitoring are crucial components of the infrastructure in today's environment. We've created a
surveillance robot prototype that can be operated from any location in the world. This surveillance robot is
built to findobjects, keep an eye on its surroundings, and record any continuing actions via streaming live video
by using an IP camera. This robot will meet the needs of the human-free monitoring system by fusing the ideas
of IoT, cloud, and electronics. By keeping an eye on areas of the environment that humans cannot access, it will
aid in surveillance and supervision. This robot has a wide range of applications in many different industries. It
covers the domains like personal surveillance, business surveillance, and military applications. The robot's
metal detector is another feature. A metal detector can detect the metal components contained in any hazard,
such as bombs, so that any potential human casualties can be avoided in advance. Wireless communication aids
in the regulation of the distance limitation issue. The robot is controlled using an android application as well
as through a web application, while the data is stored in the cloud. The operator may control the movement of
the robot's gun mount mechanism, which is included with the machine. It serves military needs. The
conventional surveillance can be upgraded to Iot based surveillance to increase the efficiency.
Keywords: ATmega328P, surveillance robot, Internet of Things (IoT), metal detector, Node MCU ESP2886, cloud,
blynkIot, gun mount mechanism, laser gun, Robotics.
I. INTRODUCTION
The increasing applications of electronic technology over the decades have proved to benefit human life.
Monitoring, automation, and surveillance have drastically changed. Due to the upcoming technologies of IoT,
cloud, and electronics, the controlling process has become less hassle and overcomes the issue of range
limitation [1]. Information from the device is instantly available at the user’s fingertips. With the help of the
Blynk IoT platform we are able to control the movements of the robot [5].To set up the communication
between the robot and the user’s device, a Wi-Fi module is interfaced on the hardware assembly, which is
integrated with the microcontroller. The sensors, detectors, are mounted on the hardware unit of the robot
which are interfaced with the microcontroller. All the data received from the sensors is processed in the
ATmega328 microcontroller. This data is then sent to the android interface of the Blynk Iot application via
NodeMCU [7]. Similarly the control commands of the robot are subordinated from the android application via
NodeMCU to the microcontroller for a particular movement of the robot. Motor drivers and DC motors enable
the mobility of the robot. All the hardware unit is powered with the Lithium-ion rechargeable batteries. The
hardware unit is a customized PCB layout which consists of all the interconnections between the electronic
components. The robot can be controlled through an android application as well [6].
II. LITERATURE SURVEY
Web controlled Raspberry Pi surveillance robot: A Raspberry Pi and Arduino web-based robotic surveillance
device which monitors and records the environment with the help of ultrasonic sensors and web camera. The role
of Raspberry Pi is to provide live feed from the camera and the Arduino operates the motor. They have designed the
system to work in manual as well as in automated mode. The automated function works when the user is offline.
The ultrasonic sensor detects the obstacle and initiates the obstacle avoiding function in the code.
Surveillance Spy Robot with Wireless Night Vision Camera and Metal Detection: By using the Atmega328P
microcontroller, the robot can monitor the environment along with its wireless night vision camera providing live
feed of the surroundings. It comes with a metal detector to detect any metallic material. This robot is controlled via
a Bluetooth module which is connected to an android application.
Surveillance Robot using Raspberry Pi and IoT -The Raspberry Pi-based surveillance robot utilizes a motion

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 e-ISSN: 2582-5208
International Research Journal of Modernization in Engineering Technology and Science
( Peer-Reviewed, Open Access, Fully Refereed International Journal )
Volume:05/Issue:04/April-2023 Impact Factor- 7.868 www.irjmets.com
detection algorithm to activate its camera, which then initiates a face-tracking algorithm for authorization
purposes. Once the authorization process is carried out successfully, the Raspberry Pi switches to the onboard
voice assistant which will enable the movement of the robot through voice commands. Using a remote VNC viewer,
one can have access to the camera of the robot.
Autonomous Surveillance for an Indoor Security Robot: The authors have proposed a system for indoor
surveillance by detecting the motion of the object, feature extraction and tracking algorithm. It's basically a human
face detection robot, if no human face is detected it will continue to monitor and patrol its surroundings. For
avoiding obstacles or to detect any obstacle it uses LiDAR sensor.
Surveillance Robot in Hazardous Place Using IoT Technology: The robot consists of Arduino Uno
microcontroller, sensors like gas sensor for detecting hazardous gas in the environment, An object detection system
based on a PIR sensor is employed to detect the presence of objects, while an ultrasonic sensor is used to
measure the distance between the system and the detected object, wireless camera. The robot is controlled from
a remote location via android or laptop with an IoT software. The robot and the controller are connected via a wifi
module so that the navigation of the robot can be controlled.
III. HARDWARE SPECIFICATION
HARDWARE REQUIREMENT SPECIFICATION:
1.1 ATmega328P
Atmega328P is a 8-bit microcontroller used in this project to control the movements and the functionality of the
robot. As compared to other microcontrollers, its low power requirement and affordability makes it one of the
most popular microcontrollers for creating a prototype. All the sensors and motor driver, dc motors are interfaced
with the controller. It takes the command from the user’s control device to navigate the robot through its
surroundings.
1.2 NodeMCU ESP2866- NodeMCU ESP2866 wifi module is a highly integrated chip for wireless
communication. It can be integrated with other sensors for specific applications through its GPIOs. It is designed
to occupy minimum space on the PCB layout. In our project, this will be the communication medium between the
Atmega microcontroller and the remote controlling device (which an iot platform interface operated on android as
well as web application for laptop).
1.3 Metal Detector- LC metal detector is used to detect any metal for the application for mine detection or
bomb detection purposes. The main parameter that is the detection distance of this module is 6cm. The module
works by creating an electromagnetic field that generates currents in nearby metal objects and detects them
when sensed by the detector. The alert system can be in buzzer or led mode. It operates on 40mA current and
standby current is 5mA and operating voltage is 3-5 volts.
1.4 Ultrasonic Sensor- HC-SR04 module is used in this project as a range finder. It is a very popular and
widely used module in many applications. It has input supply voltage of 5 V, less than 2mA of operating current and
a sensing angle less than 15 degrees. It has a sensing distance of 2 to 450 cm with an accuracy of 0.3 cm.
1.5 IP Camera- An IP Camera of resolution 1080p which is compatible with smartphones, transmits real-time
video of the surroundings of the robot through the internet. These are generally plug-and-play devices to store
digital content.The IP camera is connected to the smartphone with an encryption key for secured communication. It
works on 15 volts (AC) and the angle of view is 180 degrees.
Servo motor and DC motor- A servo motor is an electromechanical device that converts electrical signals into
precise rotational motion, providing accurate control over angular position, velocity, and acceleration. It will
enable the robot to move in all the directions smoothly. We have used a DC motor to convert the electrical
signal into mechanical signal to drive the load, in our case the load is the robot.
1.6 Power source, Charging module and laser-Lithium-ion rechargeable batteries power the whole unit. The
robot also includes a TP4056 1A Li-Ion Battery
charging module consisting of a micro-usb port for power supply. A laser diode of 5V and having wavelength of 650
nm is used for targeting purposes.

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 e-ISSN: 2582-5208
International Research Journal of Modernization in Engineering Technology and Science
( Peer-Reviewed, Open Access, Fully Refereed International Journal )
Volume:05/Issue:04/April-2023 Impact Factor- 7.868 www.irjmets.com
IV. BLOCK DIAGRAM AND WORKING SYSTEM

The IoT based remotely controlled surveillance robot utilizes the technology of wireless communication and
various IoT based sensors so that the inaccessible or dangerous places can be kept under surveillance and be
monitored without any risk to human beings [5]. The main components of the system are the processor, wi-fi
module and the Laser gun mechanism along with sensors and motor drivers. The microcontroller is programmed
in Arduino IDE so we can make use of the widely available libraries. When the robot is turned on it gets connected
to the user’s PC or android application via Blynk IoT application. This application is the communication medium
between the user device and the robot. Communication between the robot and the user device is set up by using
NodeMCU ESP2866 wifi module. Once the connection is established, the user can start controlling the movements
from the application, the application will send those commands to the microcontroller of the robot via the
NodeMCU [7]. The commands received from the user’s device will be coordinated to the motor driver and then to
the DC motors to carry out the respective movement of the robot. The data collected through the sensors will be
sent to the user interface control(Blynk Iot application) through the wifi module. On the basis of this data necessary
action can be taken by controlling the movement of the robot.We chose to mount the ultrasonic sensor along with
the movable camera so that we can calculate the distance of the object which can be seen through the camera
during the live feed. This means the ultrasonic sensor will move in whichever direction the camera is controlled
to move. Along with the ultrasonic sensor and IP camera the mechanism also has the Laser gun mechanism which
is used to target the intruder. The laser gun will move along with the IP camera and the ultrasonic sensor. Since this
whole mechanism is movable the speed of the movement is controlled with the help of the servomotor. The
movement of this assembly is up, down, left and right. The metal detector is placed at the bottom of the chassis,
so that it can detect any metallic material underneath while monitoring the area. The IP camera is connected to
the user device through the internet. A different interface has been designed for the live feed of the camera using
a webpage [3]. The connection is secured with SSID and an encryption key(password). The whole system is
powered with two 3.4V Lithium-ion batteries which are rechargeable.
V. FLOW CHART FOR SENSORS AND NAVIGATION
When the system of the robot turns ON, the sensors start detecting. As shown in the flowchart of sensors, if the
metal is detected by the robot, it will send an immediate alert to the user. The control interface has a virtual LED
which will turn ON to notify the user, otherwise the LED is OFF. Similarly, for the ultrasonic sensor, whenever the
robot will approach any object, the ultrasonic sensor will receive the sound waves after hitting an object. By
calculating the time required the sound waves to reach the object and get back reflected to the sensor, total distance
is calculated. All this process is carried with the help of the code loaded on to the microcontroller via Arduino Ide.
It will display the distance value on the user screen. For the navigation process, whatever input will be given by

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 e-ISSN: 2582-5208
International Research Journal of Modernization in Engineering Technology and Science
( Peer-Reviewed, Open Access, Fully Refereed International Journal )
Volume:05/Issue:04/April-2023 Impact Factor- 7.868 www.irjmets.com
the user will compare with the data stream of the application which then coordinates those directions to the
microcontroller and then to the motor driver. The motor driver will send those signals to the DC motor for
moving the robot, or to the servo motor for controlling the movement of the camera, ultrasonic sensor and laser
gun which are encased together.Following is the flow chart of the workflow of the sensors as well as the navigation
of the robot :

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 e-ISSN: 2582-5208
International Research Journal of Modernization in Engineering Technology and Science
( Peer-Reviewed, Open Access, Fully Refereed International Journal )
Volume:05/Issue:04/April-2023 Impact Factor- 7.868 www.irjmets.com
VI. HARDWARE RESULTS

Figure (a) Figure(b)

Figure (a) consist of the layout of the assembly whereas Figure(b) on the right hand side consists of the whole
setup of the assembly. We designed a customized PCB layout to avoid any loose connections and mounted all the
hardware components on the chassis.

Figure (c) Figure (d) Figure (e)

As mentioned earlier, we are accessing the IP camera through a web browser, and figure (c) and (d) present the
webpage from a smartphone device which has various settings for the camera. Figure(e) shows the live stream
from the IP camera. One can also capture the screen to take photos. If required, an SD card can be interfaced along
with the IP camera to store the videos and photos.

Figure (f)
Figure (f) shows the Blynk Iot web application control interface. Various buttons have been allocated for the
functions of various movements of the robot. The ultrasonic sensor measures the distance from the object and is
represented as shown in the above result. For the detection of metal, virtual led is designed for alert method. Since
there is not any metal detected, the mine LED is OFF [2]. The tilt and pan are the movement of the camera,
ultrasonic sensor and laser gun mechanism assembly so that it can rotate clockwise or anticlockwise.
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 e-ISSN: 2582-5208
International Research Journal of Modernization in Engineering Technology and Science
( Peer-Reviewed, Open Access, Fully Refereed International Journal )
Volume:05/Issue:04/April-2023 Impact Factor- 7.868 www.irjmets.com

Figure (g)
As shown in the figure (g) the mine LED is glowing red. That indicates any metallic object has been detected by the
robot. Another thing to notice is if the robot is approaching any object closer and closer, the color changes from
green to red gradually, in this case it's orange. The forward button will move the robot forward, similar for left,
right, and reverse. The stop button is designed to stop any ongoing movement of the robot at that instant.

Figure (h)
In the figure (h), after logging in to the Blynk Iot application, a page will display all the devices connected to this
application. As we can see in our case, it's the surveillance robot. It will also provide the previous details of the
robot like when and where the log in took place , the IP address of the device to which the robot was connected, etc.

Figure (i)
The datastreams, as shown in figure (i) that is how the movement will be controlled or the form of value will be
given to the controller to move the robot, is customized over here. According to the sensors specifications,
maximum value can be set or reset in this part of the application.
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 e-ISSN: 2582-5208
International Research Journal of Modernization in Engineering Technology and Science
( Peer-Reviewed, Open Access, Fully Refereed International Journal )
Volume:05/Issue:04/April-2023 Impact Factor- 7.868 www.irjmets.com
VII. APPLICATION
● For military purposes such as mine detection, spy robots, targeting the enemy or intruders using the laser gun in
warfield, etc.
● Commercial infrastructures can use it for security checking, detecting any presence of bombs, for monitoring the
premises, and assisting the security team in surveying the surrounding area.
● Human less surveillance systems can be set up, where the authorities can navigate the dangerous or hazardous
zones without risking any human life.
● The primary application is for surveillance and monitoring our surroundings.
VIII. CONCLUSION
The evaluation of the IoT based surveillance robot suggests that it is capable of effectively surveilling the
environment and transmitting live video footage. Additionally, the robot is equipped with the capability to
detect metal objects beneath the surface, which distinguishes it from conventional surveillance systems.
Compared to human monitoring, robot-based monitoring enables navigation in challenging environments and
situations. The laser gun is a key component of the robot, which operates efficiently for precise targeting.
IX. FUTURE SCOPE
The IoT based surveillance robot is flexible and can be customized to suit specific application requirements. Its
laser gun feature is designed to target intruders. In order to subdue intruders or enemies, a real gun equipped
with tranquilizers can be mounted onto the same mechanism. By implementing appropriate programming, the
gun can be remotely controlled by the user from a remote location. Military and industrial applications may
require the robot to be equipped with robust sensors that can detect metal up to 3 meters deep in the ground.
Furthermore, other sensors such as gas sensors can also be integrated into the robot to enhance its capabilities.
X. REFERENCES
[1] V. Usha Rani, Dr. J Sridevi, P. Mohan Sai, “Web controlled Raspberry Pi Robot Surveillance”, International
Conference on Sustainable Energy and Future Electric Transportation(SeFeT), January 2021, Gokaraju
Rangaraju Institute of Engineering and Technology, Bachupally, Hyderabad, India.
[2] Sathyaprakash BP, Suhas G, Sushma S, Shri Hari Prasad, Siddharth Bhat S, “Surveillance Spy Robot with
Wireless Night Vision Camera and Metal Detection”, Turkish Journal of Computer and Mathematics
Education, Vol. 12,No. 12, May 2021, School of ECE, REVA University, Banglore, India.
[3] Harishitha R, Muhammand Hameem Safwat Hussain, “Surveillance Robot using Raspberry Pi and Iot”,
International Conference on Design Innovations for 3Cs Compute Communicate Control, 2018, MVJ College
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[4] Min-Fan Ricky Lee, Zhih-Shun Shih, “Autonomous Surveillance for an Indoor Security Robot”, MDPI
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[5] T. Akilan, Satyam Choudhary, Princi Kumari, Utkarsh Pandey, “Surveillance Robot in Hazardous Place Using
IoT Technology”, International Conference on Advances in Computing, Communication Control and
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Field Surveillance Robot for Military Use”, Advances in Engineering Research (AER), volume 142,
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[8] Conference for Phoenixes on Emerging Current Trends in Engineering and Management, 2018, Christ Institute
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