Proceedings of the 7th International Conference on Computing Methodologies and Communication (ICCMC-2023)
IEEE Xplore Part Number: CFP23K25-ART; ISBN: 978-1-6654-6408-6
A Raspberry Pi based Smart Security Patrol Robot
Salna Joy*1, Richard Lincoln Paulraj1, Punith M 1 ,Shalini M 1, Srushti Goudar1, Ruthesh S1
1
Department of Electronics and Communication Engineering, New Horizon College of Engineering, Bengaluru, India-560103
salnamaryjoy*, richy.rlp, mpunith64, cheekushal, goudarsrushti, rutheshreddy4262@gmail.com
Abstract— Nowadays, most security and surveillance
systems use mobile robots. The advantage of using mobile
2023 7th International Conference on Computing Methodologies and Communication (ICCMC) | 978-1-6654-6408-6/23/$31.00 ©2023 IEEE | DOI: 10.1109/ICCMC56507.2023.10083908
robots in a physical security situation is that they can
extensively examine the surroundings as opposed to a static
sensor network. This paper demonstrates a patrolling Robot to
enhance security. The sensor-based crime detection relies on
Raspberry Pi, L2939D motor driver Module, Pi Camera,
S ound Sensor, Dc Motor an d Neo-6 AGPS Receiver. The
patrolling robot monitors and secures the premise at a lower
cost, it uses a sound sensor to detect the unusual sound
occurring and migrates to the place to send live footage and
location under the sky view to alert the user to stay conscious.
To operate the bot, it must be connected to reliable internet
through the inbuilt Wi-Fi module in the Raspberry Pi. The
communication between the model and the user is through
mail service, and the user can analyze live data stream footage
and the live location so that the user can approach the suspect
area as soon as possible. This smart monitoring system is
designed with video surveillance and plays a crucial part in the
places like commercial buildings, schools, hospitals,
warehouses, and other demanding outdoor and indoor
locations.
Keywords—Mobile robots, Robotic Security Systems,
Patrolling Robot, S ensor-Based Crime Detection, Raspberry Pi
I. INT RODUCT ION
The population is growing in this expanding universe,
and security issues are rising as well. Physical security
systems are frequently staffed systems, with guards
patrolling and keeping an eye on the surroundings.
Sometimes CCTV stations are added to these networks. In
such cases, a human operator keeps an eye on the
surroundings from a base station that receives images fro m a
static sensor network. Co mpared to the only manual method,
this solution has the following two advantages: A single
operator can watch numerous remote sites at once utilizing a
distributed network of sensors; in the event that attackers
break in, the operator can keep an eye on the situation
without risking their safety. However, as the number of video
feeds to be watched grows, the likelihood that a human
operator may miss a noteworthy occurrence likewise grows
[1,2].
The general phrase "robotic patrolling" is frequently used
to describe situations in which more or one mobile robot
continually inspects an environment, walks around different
parts of it, and constantly carries out local observations to
recognize potential enduring threats. By defining, for
instance, how the surroundings are depicted, which bot path
planning steps and perception strategies are used, which
standards are used to assess the traversing performance, and
what data can or need to be engaged to improve such criteria,
this far-reaching problem definit ion could be instantiated in
different scenarios [3].
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The advantage of using mobile robots in a physical
security situation is the ability to examine the surroundings
than a static sensor network. Additionally, because some
sensor types, like chemical sensors, have a very small
operating range when installed statically, they are only useful
in key locations. Such sensors may be moved throughout the
environment, which makes them more useful when
employed on a mobile robotic platform [4]. The difficulty of
a human operator watching many feeds still exists, and
monitoring a wide variety of sensors could exacerbate the
monitoring issue. Any system would benefit fro m
automating event detection since feeds may inform a human
operator of circumstances that might call for action [5].
A well-established research line in the automatic control
community, which works with a problem that shares many
fundamental characteristics with robotic patrolling, includes
a variety of theoretical and algorithmic solutions for
patrolling techniques that optimize some objective functions
[6]. Persistent monitoring is the typical term used to describe
the issue. Because it adopts a broader viewpoint of recurring
data collected on a set of benchmarks without essentially
analysing such data as consistent with the identification of a
threat, which is more typical in robotic patrols. Persistent
observation can be thought of as a broad form of non-
adversarial patrolling [7].
The patrolling issue is handled from the standpoint of
decentralized online task assignment, where incentives are
dependent on idleness [8]. In order to demonstrate how
online synchronization can be utilized to achieve a great
result in realistic dynamic circu mstances, two methods —one
based on successive single-item auctions and the other on a
greedy task-assignment approach—are developed and
assessed [9].
The key focus of patrol robot research is path planning.
The ability of a robot to independently travel a continuous
and collision-free path fro m the beginning place to the target
position is the key to achieving autonomous navigation
operations [10].
An advanced new step in the cutting-edge safety and
surveillance field is autonomous patrolling robots. Patrolling
an area with sticks and torch lights has never been found to
be much effective; however, smart safety systems with
mobile applications, integrated devices, intelligent sensors
and independent control methodologies have become very
common nowadays. Multiple Sensor Array employs a variety
of sensors to find security threats [11,12]. These include
passive infrared motion detectors, temperature and light
sensors, audio and fire sensors, and ultrasonic sensors. The
microcontroller is directly connected to every sensor. This
mu ltisensory array improves security surveillance's
effectiveness while reducing false alarms [13].
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 Proceedings of the 7th International Conference on Computing Methodologies and Communication (ICCMC-2023)
IEEE Xplore Part Number: CFP23K25-ART; ISBN: 978-1-6654-6408-6

This paper suggests a system that will secure the In [19] the auto mated vehicle moved through the
premises in an efficient way using video and audio predetermined area. It is fitted with a n ight vision camera
surveillance and transmitting the information to the user or and sound-acquiring sensors. The camera used in the
concerned authorities like the police department or security suggested system includes a 360-degree turning feature that
control room, using high-speed internet. Static CCTV records or views everything. With the help of the camera, it
security systems of Banks and other important institutions scans the area and detects a human face. It captures images
can be replaced with affordable patrolling Robots. The usage and video of the situation after obtaining verifiab le evidence
of patrolling robots will help to reduce manpower in security of the sound or human face. IOT neighborhood (LA N) is
networks.
used to receive supplied images and display them to the
II. RELAT ED W ORKS client while playing warning noises.
A significant limitation in the above-mentioned
Security robotic systems can be broadly classified
security patrol robot systems is the lack of exact coordinates
into machine learn ing-based artificial intelligent systems of the patrolling device. Tracking the device fro m video
and sensor-based crime detection and notification systems. footage is crucial during an emergency. The range limitation
In [14] it is explained that in many places of the
of the Bluetooth connection restricts remote access to the
world today, wo men's safety is the top priority. Therefore, system.
every member o f society wants a safe and secure system.
The safety electronic system for wo men is the subject of the
study. This paper, suggests utilizing a Raspberry Pi and III. PROPOSED SYST EM
open CV to operate a security camera with night vision
capabilit ies. This approach, which is affordable, makes use The system is designed with a camera and GPS module
of a Raspberry Pi camera and a ch ip the size of a credit card. with a set of sound sensors which is connected to the
For ano maly detection, CNN deep learning is employed. Raspberry Pi as Node MCU through Wi-Fi module for
Therefore, the image is taken using the pi camera and sent to communication purposes. The processor is been programmed
the raspberry pi fo r processing so that faces and humans can using Python with a Raspbian OS installed into the
be detected using an open CV. The limitations are the range processor. It is powered by a rechargeable battery. L293D
of the model is less and in this case of a failure, a whole motor driver is used to control the mo ment of the device in
zone might get disconnected from the network. forward, backward, right and left direction using dc motors.
Three pieces of the system, including an Arduino The security patrolling robot can move around in a random
developing board, a night vision sensor, and a camera are direction for monitoring and detecting suspicious activity
occurring in the assigned area. Under normal conditions, the
lin ked to the spy robot system. The web server can
model tirelessly works around the premise waiting for the
simu ltaneously post information about the activities that
four sound sensors to trigger the model to travel in the
take place in front of the camera that has been gathered by
respective direction. Figure 1 depicts the proposed system
users [15]. In 2013, Cheng Tang, Guo lai Jiang, Yongsheng block diagram.
Ou, and QunqunXie perform a road trip based on a planar
reflection model [16]. Different road detection and
monitoring ideas have sprung from it. Road and street
monitoring is also crucial for carrying out numerous tasks
including identifying pedestrians and seeing any suspicious
behavior, among other things.
The route image's pixels are graded using this
approach. Numerous projects have been organized fo r
daylight monitoring, but only less effort has been done for
night monitoring. Th is technology focuses on identifying
any inadequate nighttime procedures. As this device relies
on vision and can determine the path based on the view, it
will have trouble if other objects, enter the picture. Here, an
infrared camera and a planar reflection model are useful fo r
distributing the strength of various pixel types [17]. For that,
it is tested whether or not the various pixels are members of
the lane using a categorization based on pixels. If it just
determines the road's surface, the next cycle begins.
Kirk Mac Tavish, M ichael Paton, and Timothy D.
Fig. 1. Proposed System Block Diagram
Barfoot were the creators of Night Rider: Visual Odo metry
with Headlights in 2017. With a succession of camera
images, this method calculates relative transfer for mobile
When the device is on duty and if any suspicious
robotic systems [18]. A camera can be used to obtain
sound disturbance is been recognized by the sound
enormous amounts of input data fro m relatively inexpensive sensor, The sensors give the input to the processor while
sensors, making it extremely expensive to utilize fo r the processor co mpiles the code and gives the output to
functional captures in mobile robots. However, because this the LN293d motor driver to stop the current path and the
is a passive component, it will be reliant on an outside force, model is been directed to the new path where the sound
which could reduce its accessibility. is been generated. Fo r examp le, if the sound is generated

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 Proceedings of the 7th International Conference on Computing Methodologies and Communication (ICCMC-2023)
IEEE Xplore Part Number: CFP23K25-ART; ISBN: 978-1-6654-6408-6

on the left side, the model stops instantly, turns left
direct ion and moves in a forward direct ion toward the
suspect area. Once the robot reaches a particu lar po int it
again stops and triggers the camera and GPS module to
serve.
Live video footage is been captured by the camera
and in order to serve better a GPS modu le is also been
installed so that the user need not waste time search ing
the crime area, the GPS module finds the respected
longitude and latitude of the robot. The video footage
and location position is been clubbed together and is
been transmitted through the Internet v ia mail. As mobile
has made a revolutionary change the user gets a
notificat ion through the mail with the attached live
footage and live location where the user can use google
maps to get direct ions to the spot without any hindrance
with the prior video footage of what is taking place.
far fro m Earth, a GPS receiver determines its location.
Each satellite broadcasts messages continuously,
includ ing the mo ment the co mmun ication was sent
certain o rbital details the state of the entire GPS s ystem
and the approximate orbits of each satellite.
E. L293D d river: Dual H-bridge motor d river
integrated circu it. They produce a larger cu rrent signal
by taking a small current signal. The motors are driven
by a signal with a h igher current. Two H Bridge driv ing
circuits are present.
F. Raspberry pi OS: Raspbian is a Deb ian-based
engineer, especially for the Raspberry Pi and it is the
perfect general-purpose OS fo r Raspberry users. It can
accomplish any task you throw at it.
IV. SYST EM W ORKFLOW
Raspberry pi is the development board based on the
ARM Cortex processor used to process the task by taking
input fro m other external models to create our real-wo rld
entity projects. The raspberry p i wh ich is po wered by a
5v battery has an onboard Wi-Fi module that helps to
establish a reliable network connection with the user. A
sound detector is used to get the sound in the typical area
and process the input to the raspberry. The proposed
system flowchart is given in figure3.

Fig. 2. Raspberry pi connection with sound sensors and camera

Figure 2 shows the Raspberry pi connection with the

right, left, front and back sound sensors and camera. Two
dc motors are used to control the robot’s movements.
The system uses the following components:
A. Raspberry Pi 3B: It is equipped with a Quad-co re
64-bit Broadco m BCM 2835 A RM Co rtex-Soc p rocessor
1.2GHz making it 50% Mo re powerfu l than pi2.
Raspberry Pi3 is used as the system requ ires 4 USB
pins2.0 ports.
B. Camera: It enables video surveillance for mo re
effect ive monitoring. Real-t ime streaming of video is
availab le on android or laptop. St ill p ictures and 720p 60,
1080p30 and VGA90 formats are supported. The camera
is attached to the Raspberry Pi Camera Serial Interface
port through a 15cm cable.
C. Sound Sensor: The output of the Dig ital Sound
Detector Module is High when the onboard
potentiometer is ad justed to the threshold. The module
checks if the sound exceeds the threshold or not.
D. Neo-6 A GPS Receiver: By accu rately t iming the
Fig. 3. Proposed system flowchart
signals supplied by the Global positioning system located

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 Proceedings of the 7th International Conference on Computing Methodologies and Communication (ICCMC-2023)
IEEE Xplore Part Number: CFP23K25-ART; ISBN: 978-1-6654-6408-6

Based on the command of the process the motor V. RESULT

driver controls the motor to move in a forward or Figure 5 depicts the concept implementation of the
backward d irect ion toward the sound. A camera is used proposed system. The security robot moves in a
when the sound sensor triggers the process to record the predetermined path around the premises which is
image and transmit it through the Internet platform. To equipped with four sound sensors and a camera. While
further know the exact location GPS module is been mov ing transmits information to check for the sound
installed to find and latitude and longitude of the crime waves in its path, when the unusual sound is detected in
taking p lace. The security robot moves in a the path the bot stops.
predetermined path around the premises which is
equipped with four sound sensors and a camera. While
mov ing in a random path it trans mits in format ion to
check fo r the sound waves in its path, when the unusual
sound is detected in the path the bot stops.
The sensors give the input to the processor while the
processor co mpiles the code and gives the output to the
LN293d motor driver to change the path and moves
toward the sound.

Fig. 4. Manual mode control functions

Figure 4 shows the console for manual mode control.
Manual control is provided to control the robot using
control functions on Android. Th is feature can be used to
move the robot manually closer to the location to get a
precise understanding of the surroundings.
A. Path Planning Algorithm
Fig. 5. Concept Implementation
Then the bot moves in the direction of the sound and
stops at a particular d istance fro m the crime area and
captures live video footage of the suspect area as shown
in figure 6 and transmits it to the internet.

Sequential steps in the path planning patro lling

algorithm are as follows
 1: Import necessary libraries
 2: Set pins 12,13,15,15 as outputs
 3: Set pins 7, 10 as inputs
 4: Turn OFF Left (L) motor
 5: Turn ON Right (R) motor
 6: Turn OFF Right (R) motor
 7: Turn OFF all motors

 8: While true:
 9: If Left and Right sensors are OFF, Then Fig. 6. Still from the live video stream
stop both motors
In addition to the live streaming, a GPS modu le also
 10: If Left and Right sensors are ON, Then
is added to the bot so that the user need not waste time in
turn ON both motor find ing the bot. The exact longitude and latitude is been
 11: If Left sensor is ON, Then turn right found and using google Maps the user is guided to reach
motor OFF the exact location without any loss of t ime. Figure 7
 12: If Right sensor is ON, Then turn left shows the coordinates of the robot.
motor OFF

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 Proceedings of the 7th International Conference on Computing Methodologies and Communication (ICCMC-2023)
IEEE Xplore Part Number: CFP23K25-ART; ISBN: 978-1-6654-6408-6
Fig. 7. Captured Live Location
The warning mail as in figure 8 will be sent to the
Android which includes the live streaming of the location as
well. Police or emergency control websites can be connected
over the internet to get help in the needed situation.
Fig. 8. Notification mail on Android
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VI. CONCLUSION AND FUT URESCOPE
Smart Security patrolling robot using Raspberry Pi is
focused on a security of a premise based on sound distortion
caused in the area. It gives satisfactory performance for a
wide range of environmental conditions. This Robot is small
in size and enters spaces that are impossible for humans to
access. The Robot blends in with the environment and is
difficult to spot. The model is trained not only with sending
the live video footage but also the location thus serving
better. Static CCTV security systems of Banks and other
important institutions can be replaced with affordable
patrolling Robots. The usage of patrolling robots will help to
reduce manpower in security networks. Each module's
presence has been carefully considered and arranged,
resulting in the best operation of the device. The results were
tested against a variety of terrestrial conditions and the
expected results were observed successfully.
To lessen the need for human labor, the system can be
further developed into a fully functional security robot
connected with emergency and crime control departments .
Improved path-planning algorithms can be imp lemented for
enhanced security. In order to expand the system's operation
and boost its efficiency, it might be outfitted with high-end
components and 360-degree coverage. For better sound
detection, the system can be equipped with extra
microphones addressing a wider range of directions.
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