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Surveillance Robot in Hazardous Place Using IoT Technology

Conference Paper · December 2020

DOI: 10.1109/ICACCCN51052.2020.9362813

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 2020 2nd International Conference on Advances in Computing, Communication Control and Networking (ICACCCN)

Surveillance Robot in Hazardous Place Using IoT

Technology

T. Akilan Satyam Chaudhary Princi Kumari Utkarsh Pandey

Dept. of CSE
Galgotias College of
Engineering and Technology
Greater Noida, India
agilanmecse@gmail.com
Dept. of CSE
Galgotias College of
Engineering and Technology
Greater Noida, India
dsatyam5@gmail.com
Dept. of CSE
Galgotias College of
Engineering and Technology
Greater Noida, India
princik2111@gmail.com
Dept. of CSE
Galgotias College of
Engineering and Technology
Greater Noida, India
utkarshpandey10@outlook.c
om

Abstract—This paper deals with human surveillance through
the technology based on IoT featuring robotics using an Arduino
UNO microcontroller that is controlled by a smartphone and a
PC. The objective is to develop a spy robotic car which is suited
to provide an act of continuous surveillance in hazardous
environment. The robot is capable to record the real-time
streaming in day time and night time as well through wireless
camera. Those movements of the robot are controlled manually
at the user end. This robot reduces human intervention directly
in a hazardous place where continuous supervision and security
is necessary. The complete system comprises of various sensors
like PIR sensor, ultrasonic sensor, and gas sensor interfaced with
Arduino board. Spy robot monitor the live streaming
information and transfer it to the connected Android device.
Android application can control the navigation of the robot from
a large distance using WIFI communication. Further
advancement of this project will lead to usage of spy robots even
in defense and mining areas. Border areas require complete and
uninterrupted supervision for country’s safety and security from
enemies and using spy robots can beworthwhile.
Keywords— Arduino board, Gas Sensor, PIR sensor, Ultrasonic
Sensor, Wireless Camera.
I. INTRODUCTION
Robot is a hardware device which is mainly made to do
various tasks and reduce human efforts. Software and
hardware constitute to make machinery which is called robot.
Robotic technology is the future to deploy risky and life
threatening tasks. As human’s life is precious and also human
cannot reach everywhere so here comes the need of robots to
help the humans to overcome their limitations. As robots
provide accurate results this has become a great advancement
in robot industry. Robots are very helpful in hazardous places
as it’s not possible to humans to reach out there in areas of
enemies and places full of threats. Android Operating system
is very much helpful in operating robotic system through
smart phones easily [1]. The activities assigned to the robotic
system are controlled manually by human. Surveillance is very
essential in hazardous environment which is dangerous for
human beings as these are life threatening. Places that required
continuous monitoring are mining areas, urban disasters,
hostages situation, explosions and many more. Arduino
technology is advancement while dealing with robots also it’s
very cost effective. Arduino Uno micro-controller is used
while creating a robotic car and is interfaced by embedded C
programming language. Various Sensors work simultaneously
and acts.
When any obstruction is detected, the PIR sensor detects
movement while surveillance of any person or animal in a
hazardous place. The ultrasonic sensor is required to calculate
distance of an object by sending its waves. In Robotic industry
Internet of things (IOT) has proved its prominent
functionalities that deploy internet connectivity to different
devices. Internet is used as a medium to transfer the data from
the robot to the user [2]. Working combination of Arduino and
Internet of things is a great achievement in various areas. This
robot is mainly built to solve the problem of threats in
troubling and deadly places and can also be used in domestic
areas in hospitals, school and movie theaters etc.
II. LITERATURE SURVEY
In [1], Jignesh Patolia, Haard Mehta, Hitesh Patel,
Patel.V.T discusses a system for observing the human
movement in the war region and war border area which can
minimize the risk of human life as soldiers of armed forces
can assess the situation of the area prior enter into it. The war
field robot comprises Arduino Uno board was interfaced with
L293D, HC-05 and night vision wireless camera. Camera is
placed on the top of the robot and can monitor minimum of
100 m transmission distance. It has the feature of rotating 360
degrees by the means of android application. That android
application is created through MIT app inventor and is used
for the total navigation control of the robot.
In [2], G. Anandravisekar, A. Anto Clinton, T. Mukesh
Raj, L. Naveen, M. Mahendran has proposed a robot which
execute the act of continuous supervision in the household
areas. It is capable to reduce the human labour as well as
human error. The robot is controlled by mobile or laptop
through IoT with help of Cayenne software. It is used to send
instruction to the robotic system. Arduino interfaced with
ESP-8266 Wi-Fi module for unlimited range of operation
receives those commands. DC motors, ultrasonic sensor to
detect any obstruction, IR sensors and wireless camera that
provides audio and video streaming data to the user end are
used in this project.

ISBN:978-1-7281-8337-4/20/$31.00 ©2020 IEEE 775

 2020 2nd International Conference on Advances in Computing, Communication Control and Networking (ICACCCN)
In [3], Mohammad Shoeb Shah, P.B. Barole presents a
cost effective robot using Arduino uno microcontroller which
can carry out the act of surveillance as well as rescue
operation. The robot is equipped with passive infrared sensor,
ultrasonic ranging module, DHT11 temperature and humidity
sensor, MQ-135air quality sensor, accelerometer sensor,
gyroscope sensor, magnetometer sensor, GPS sensor,
Bluetooth and WIFI module, motor driver and robotic arm.
The robotic arm is a type of jointed arm and consists of
gripper to pick up objects with ease. It is controlled remotely
by end user via internet. Solar panel is also connected to
provide with the facility to charge battery with solar power.
In [4], Diksha Singh, Pooja Zaware, Dr Anil Nadgaonkar
has developed a surveillance robot for real time video
streaming and audio transfer. The wireless mini robot is
controlled by android based application named BLYNK.
Arduino uno R3 is used as robot control board and it is
incorporated with NodeMcu ESP module and L293D.
ESP8266 Wi-Fi module is paired with android supported
mobile device along with security credentials. Username and
password is only known by the authorized person also by
predefined by the developer in the programming of the
system.. It makes this wireless mini robot control completely
secured from trespasser.
III. SYSTEM HARDWARE
A. Arduino Uno Microcontroller
A single-board microcontroller that makes the application
easy to access with various interactive objects and its
surrounding is called Arduino Uno. It also known as to be a
microcontroller board, which supports the ATmega328P. This
board contains 14 input/output digital pins in which 6 output
pins are used for PWM, 6 input pins as Analog, ceramic
resonator with 16 pins as measured in MHz
(CSTCE16M0V53-R0), it is having a power jack with USB
connection, an ICSP and reset push button [3,4]. The
connection is made from microcontroller which is done by a
PC through USB cable, a ADC adapter or battery to invoke it.
Fig. 1 Shows the Arduino Uno Microcontroller.
of different motors at the identical time[8]. This is advanced to
dispense 600mA bidirectional current ts at voltage 5V to 36V.
It establishes a connection between cars and manipulates
circuits. Input 1 and Input 2 are related up with the virtual
output pins at the L293D module. The Drivers of L293D
module are related in matched set, with the drivers 1 and 2
associated via 1,2EN and drivers 3 and 4 associated with the
aid of three,4EN. When an associated input is high then the
driver which is associated get enabled and their corresponding
outputs get aligned and in position with their inputs. L293D
motor driving module is shown in fig. 2.
Fig. 2. L293D Motor Driving Module
C. ESP8266 Wi-FiModule
The sensed output voltage has been transferred via the ESP
on server using WiFi network. The data which is being
transmitted on server can be observed on laptops or mobiles
by way of connecting to that Wi-Fi server and via gaining
access to the IP address[9,10]. It is also referred to as low-
price WiFi chip and associated with a complete WiFi protocol
stack and along with a microcontroller unit. This module is a
self co SOC that is mixed of TCP/IP protocol stack which
gives access to the Wi-Fi to the microcontroller [figure 3].
ESP8266 WIFI module also plays certain task like hosting the
software and offloading all Wi-Fi networking capabilities
from alternative software.

Fig. 3. ESP8266 Wifi Module

Fig. 1. Ardunio Uno Microcontroller
D. Passive Infrared Sensor (PIR)
B. L293D Motor Driving Module
This module is a sixteen pin driving force module IC that
makes the person to have command at the direction and pace

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 2020 2nd International Conference on Advances in Computing, Communication Control and Networking (ICACCCN)

wavelength, it could be easily identified by the

appropriate

It is an electronic sensor, used for determining infrared

light which radiates from devices in its field of view is called a
PIR Sensor. Every object having the temperature above zero
level will emit some energy in the kinda radiation form
[Figure 4]. That kind of radiation possibly not seen by human
eyes usually because it radiated in the form of infrared
electronic sensor. The generation or the emission of energy for
the detection can’t be done by PIR device[11]. They only
work on detecting infrared radiation that is radiated heat
emitted by or reflected from the particular objects.
Fig. 4. HC-SR501 PIR sensor
E. Gas sensor(MQ-135)
The MQ-135 [Figure 5] Gas sensors is used for
maintaining and controlling the tools or the equipment of air
quality and mainly it is appropriate to identifying or measuring
the different gases like LPG, Nitrous Oxide, Alcohol,
Benzene, Smoke, Carbon di-oxide[12]. This gas sensor having
digital pin, it can utilizes the sensor to work without any
microprocessor or microcontroller and suitably accessible
when users are trying to detect a particular gas.
Fig. 6. HC-SR04 Ultrasonic Sensor
IV. SOFTWARE SPECIFICATIONS
A. Blynk Software
For controlling and monitoring hardware remotely and
displaying the sensors relevant data, Blynk software is used.
Blynk layout various similar API and UI for all the compatible
hardware [5]. It supports ethernet, Wi-Fi, bluetooth, serial and
cellular connection types to connect to the microcontroller.
This platform provide three vital components [Figure 7]:
• Blynk App: It helps to create interfaces for IoT based
projects using several widgets provided.
• Blynk Server: It manages all the transmission is
happening between the android device and any
hardware devices. Blynk Cloud is also available so
that user can easily run private blynk server locally.
• Blynk Libraries: It is responsible to enable
communication with the server and facilitates the
processing of all the incoming and outgoing request
and instructions.

Fig. 5. MQ-135 Gas Sensor

F. Ultrasonic Sensor
Ultrasonic sensor use to transforms the electrical energy
into acoustic waves or sound waves and conversely. An
ultrasonic wave is also an acoustic wave signal which is
travelling at a frequency more than 18kHz. The generation of
ultrasonic waves at 40 kHz frequency is done by HC SR04
ultrasonic sensor[6,7]. A microcontroller is used for
transmission with an ultrasonic sensor and further direct a
signal to the ultrasonic sensor for the measuring of distance.
As the Duty cycle of this trigger signal is 10µS and when
triggered, the sensor used to generate the eight acoustic wave
bursts and initiates a time counter. As soon as the reflected
signal received the timer stops. The HC-SR04 ultrasonic
sensor is shown in figure 6.
Fig. 7. ESP8266 Connectivity
B. Arduino IDE
This Arduino IDE is an open source and cross platform
software, it can be used for write programs, compile it and
burn into Arduino boards. The Arduino Integrated
Development Environment consists of two different sections,
one is compiler and another is editor. Text editor is used to
making the codes[13]. These codes are called as sketch and
.hex file is saved. Arduino IDE is compatible with Windows,
MAC and LINUX operating system. It is suitable and simple
to make by the programming codes which helps the robot to
make the movement and it may very helpful for the sensors to

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 2020 2nd International Conference on Advances in Computing, Communication Control and Networking (ICACCCN)
be interfaced with microcontroller to do the appropriate action
which is going to be performed further.
V. SYSTEM ARCHITECTURE
The proposed surveillance robotic system comprises of
Arduino uno board which is integral part, incorporated with
several sensors for the working of the robot to its full
potential. The various sensors are basically used for displaying
the sensory information, which will enhance the functionality
of the robot to a great extent. The robot is operated by the user
sitting at remote location through the internet. The complete
navigation of the robot is managed manually by the user with
the help of Android smartphone or laptop with Blynk software
installed in it[15]. The movement of the robot depends on the
visual feedback coming from the camera implanted on the
robot. [Fig. 8] and Fig. 9 shows the complete Interfacing
diagram of the robot.
WIFI Internet
Mobile/PC
The wheels of the robot are added with the DC motors,
each have 30 rpm speed. Each motor implemented here is
needed 12v power supply to run in good speed, which is
supplied by external battery mounted in the robot side. These
motors which are interfaced with the Arduino controller
through the relay driver. Two motors was accessed by four
relays. Different sensors like Ultrasonic sensor, PIR sensor,
MQ-135 gas sensor are connected to the system which
increases the efficiency as they will stop the system to become
a complete failure in the case anyhow camera breaks or does
not work. ESP8266 Wi- Fi module is interfaced with Arduino
board to provide the internet connectivity[14]. For connection
of the robot system to the internet through BLYNK software
itself. All the communication between the smartphone and the
hardware is easily managed through the customized dashboard
created with the help of Blynk. The microcontroller is
organised using the Arduino IDE software. Coding in Arduino
IDE is not complicated as it consists of various inbuilt
functions and commandslish units as identifiers in trade, such
as “3.5-inch disk drive.”

Ultra Sonic
PIR
sensor
sensor
ARDUIN
O UNO
Gas sensor

Motor
Driver Camera

Fig. 10. Interfacing Ultrasonic sensor with Arduino Uno

Relay DC Motor

Fig. 8. Block diagram of the robot

Fig. 11. Distance detection using ultrasonic sensor

Ultrasonic sensor measures the distance by generating high

frequency sound waves notice the reflected back echo of
sound waves and calculate the distance by the time taken to
get back. Interfacing with Arduino makes it feasible to work in
an intended manner.

Fig. 9. Overall Interfacing diagram of the robot

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 2020 2nd International Conference on Advances in Computing, Communication Control and Networking (ICACCCN)
Fig. 12. Interfacing MQ 135 gas sensor with Arduino Uno
Fig. 13. Gas Detection using MQ135 Gas sensor
The MQ-135 Gas sensor is use for the overall
management of air quality and it is suitable for measuring
the various hazardous gases like, LPG, Nitrous oxide,
Alcohol, Benzene, Smoke, carbondioxide. This gas sensor
applies SnO2, it has very extreme resistance in the clear
air as a gas-sensing material. The resistance of the gas
sensor decreases when it detects the increasing number of
polluting gases.
Fig. 14. Interfacing PIR sensor with Arduino Uno
Fig. 15. Motion detection using PIR sensor
VI. CONCLUSION
The essential point of the surveillance robot is that it
has he various capabilities of detecting and sending the
signals to the authorised user from different
environments. Depending on the sensor data of the robot,
it provides the information to the user to move the robot
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in the desired direction properly like left, right, forward
and backwards. It can sense various objects and also
things coming towards it. It shows proper live streaming
of video contents. Every sensor has the capability to work
on different aspects like detecting gas, live human
detection. The robot can be easily controlled from outside
environment with the help of any android device and
laptops. This project is very beneficial and convenient for
the places where human access is impossible and life
threatening.
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