MOBILE-CONTROLLED SURVEILLANCE

ROBOT
Dr.K. Senthil M.Tech.,Ph.D.,
Muthamizh Kumar. S Tharun Kumar.L
Assosciate Professor ,Computer
Computer Science and Engineering, Computer Science and Engineering,
Science and Engineering ,Prince Shri
Prince Shri Venkateshwara Prince Shri Venkateshwara Padmavathy
Venkateshwara Padmavathy
Padmavathy Engineering College, Engineering College, Chennai, Tamil
Engineering College, Chennai, Tamil
Chennai, Tamil Nadu. Nadu.
Nadu.
muthamiz123@gmail.com
tharunkumar1005@gmail.com
Abstract—Real-time surveillance is an essential aspect of
security and monitoring, and advancements in
technology have made it possible to develop autonomous
surveillance rovers. This project presents the design and
development of a real-time surveillance rover using the
ESP32-CAM, an Arduino Uno R3, and a Bluetooth
module. The ESP32-CAM captures a live video stream
that is transmitted to a connected mobile device. The
rover is equipped with a pan-tilt mechanism that allows
the ESP32-CAM to rotate 180 degrees, controlled
remotely by the mobile device. Object detection and
tracking is a crucial component of any surveillance
system, and the project employs the OpenCV Python
library to enable real-time object detection. The rover
uses an Arduino Uno R3 to communicate with the
Bluetooth module, which receives commands from the
mobile device. The object detection algorithm,
implemented using the OpenCV library, processes the
video stream and detects objects in real-time. The
project's design and development involved integrating
the ESP32-CAM, Arduino Uno R3, Bluetooth module,
and OpenCV library. The ESP32-CAM captures the
video stream and processes it using the OpenCV library,
which performs real-time object detection and tracking.
The Arduino Uno R3 receives commands from the
Bluetooth module and controls the pan-tilt mechanism of
the ESP32-CAM, providing a remote viewing capability
for surveillance purposes.
Keywords—Realtime surveillance, Remote control robot,
Object detection, Video streaming, ESP32CAM
I. INTRODUCTION
The real-time surveillance rover is a unique and innovative
project that combines various technologies to provide an
effective solution for remote surveillance. The project
consists of an ESP32CAM module for live streaming video,
a pan-tilt mechanism for controlling the camera direction,
and an Arduino Uno R3 for controlling the rover's
movement. In addition, the project employs the OpenCV
Python library for object detection and recognition.
Surveillance is an essential aspect of security and safety, and
remote surveillance is particularly crucial in areas where
human access is limited or dangerous. The real-time
surveillance rover addresses this need by providing a mobile
and remote solution for surveillance. The project utilizes the
ESP32CAM module, which is a compact and low-power
camera module that can capture high-quality video. The
module is connected to a Wi-Fi network, allowing the user
to access the live video stream remotely from any device
with an internet connection. To control the camera direction,
the project employs a pan-tilt mechanism, which is a system
of two servo motors that can rotate the camera horizontally
and vertically. This system is controlled by the Arduino Uno
R3, which receives commands via Bluetooth from a
connected mobile device. With this system, the user can
remotely adjust the camera direction to capture different
areas of interest and obtain a complete view of the
surveillance area. The rover's movement is also controlled
by the Arduino Uno R3, which receives commands via
Bluetooth from the connected mobile device. The rover is
equipped with wheels for movement, and its compact size
allows it to navigate through tight spaces and confined
areas. This feature is particularly useful in environments
where human access is limited or restricted, such as mines,
caves, and other hazardous areas. In addition to the live
video streaming and remote control capabilities, the project
employs the OpenCV Python library for object detection
and recognition. This library provides various computer
vision algorithms that enable the rover to detect and
recognize objects in the surveillance area. The object
detection system employs a Haar Cascade Classifier, which
is a machine learning-based approach for object detection.
This system uses a pre-trained model to detect various
objects, including human faces, animals, and other common
objects. This algorithm uses a deep neural network to detect
and classify objects based on their appearance and location
in the image. Overall, the real-time surveillance rover is an
innovative and effective solution for remote surveillance in
hazardous or limited-access areas. The project combines
various technologies to provide a comprehensive and
reliable surveillance system that can be accessed remotely
from any device with an internet connection. The use of the
OpenCV Python library for object detection and recognition
further enhances the project's capabilities, making it a
valuable tool for various surveillance applications.
II. LITERATURE SURVEY
[1] V. Ratna Kumari, P. Siva Sanjay proposed a paper title
“Smart Surveillance Robot using Object Detection” that was
published in the year 2020. With the increase in lethal
accidents due to harmful conditions, cavern investigation,
mining, military surveillance, and other risky activities, the
safety of human life has been a major concern. In order to
overcome this challenge, a smart and efficient mechanical
system has been developed, which acts as a substitute for
humans in risky activities. This system is designed to
provide a platform for observable purposes, such as mining,
investigation, and monitoring of sensitive areas.
[2] Juan G. Parada-Salado; Luis E. Ortega-Garcia; Luis F.
Ayala-Ramirez; Francisco J. Perez-Pinal; Carlos A. Herrera-
Ramirez; José A. Padilla-Medina proposed a paper title “A
Low-Cost Land Wheeled Autonomous Mini-robot for In-
door Surveillance” published in the year 2018. This paper
describes the design and development of a low-cost,
modular, and robust land wheeled autonomous mini-robot
(LWAMR) for indoor surveillance. The LWAMR is
equipped with a position, speed, and distance sensor that
enables it to function autonomously. The robot is also
equipped with a spy cam that can send real-time images and
video, which is controlled by a servomechanism. The
authors provide details on the design, control algorithm,
communication, and human-machine interface (HMI) of the
LWAMR. The HMI was implemented in LabVIEW, and it
enables remote monitoring of the LWAMR's health and
surveillance. Communication between the HMI and the
LWAMR system was achieved using an RF transceiver. The
authors present results that demonstrate the effective
implementation of the LWAMR system. The LWAMR has
the advantage of being versatile, low-cost, modular, robust,
and capable of remote operation using a mobile device HMI
autonomous mini-robot (LWAMR) for in-door surveillance.
The LWAMR is able to be autonomous by using a position,
speed and distance sensor. In addition, it is capable to send
images and video in real time by using a spy cam, which is
controlled by a servomechanism. Details of the design,
control algorithm, communication, and human machine
interface (HMI) are given. HMI was implemented in
LabVIEW and it is used for monitoring remotely the
LWAMR health and surveillance. Communication between
the HMI and the LWAMR system was carried out by means
of RF transceiver. Results show the effective
implementation of this kind of LWAMR system.
Advantages of the presented LWAMR are: low cost,
versatility, modularity, robustness and remote (or not)
operation by using a mobile device HMI
[3] Vanita Babanne; Nikita Sandeep Mahajan; Renu
Lalchand Sharma; Pratiksha Pradip Gargate proposed a
paper title “Machine learning based Smart Surveillance
System that was published in the year 2019. Video
surveillance has become an integral part of protection and
security in modern cities. Smart cameras equipped with
intelligent analysis of video can monitor events and capture
abnormal activities, providing an alert system for potential
threats. Many cameras have already been installed for
surveillance worldwide. This paper focuses on
implementing video surveillance with early fire event
detection, abnormal activity detection, smart parking
systems, and crowd estimation. The proposed system aims
to overcome the existing drawbacks of post-investigation
techniques in video surveillance systems by providing an
alert generation system. The work is based on machine
learning techniques for video analysis, providing better
performance and event detection with the added advantage
of alert generation. The system's benefits include early
detection of fire events, automatic detection of abnormal
activities, and smart parking management. The proposed
system also estimates crowd size and density in real-time.
The system's design and implementation are discussed in
detail, including the hardware and software architecture.
Finally, the results of the proposed system's performance are
presented, highlighting its effectiveness in detecting early
fire events, abnormal activities, and crowd estimation. The
paper concludes by highlighting the importance of video
surveillance in modern cities and the potential benefits of
the proposed system in improving security and safety
.
[4] Hannes Fassold and Ridouane Ghermi proposed a paper
title “DETIC-TRACK: ROBUST DETECTION AND
TRACKING OF OBJECTS IN VIDEO” that was published
in the year 2022. The automatic detection and tracking of
objects in a video is crucial for many video understanding
tasks in areas such as surveillance, autonomous driving,
automatic video annotation, and brand monitoring. A novel
deep learning-based algorithm called Detic-Track is
proposed for object detection and tracking, which can detect
over 1,000 object classes and tracks them robustly even for
challenging content. The algorithm is based on the
.
OmniTrack algorithm, which combines the YoloV4 object
detector with TV-L1 optical flow and is real-time capable.
However, the Detic-Track algorithm replaces the YoloV4
object detector with the Detic detector proposed in [2]. This
detector is able to detect significantly more object
categories, specifically, a pre-trained Detic model is
employed that detects the 1,203 object classes from the
LVIS dataset. Additionally, instead of using the whole
bounding box for tracking a detected object, only the part of
the bounding box corresponding to the object mask is
utilized. This improves the tracking considerably, especially
for moving objects whose bounding box contains significant
background areas. The proposed algorithm provides
semantic information that is crucial for many high-level
computer vision tasks.
[5] S. Gobhinath, S. Sophia, S. Karthikeyan, K. Janani
proposed a paper title “Dynamic Objects Detection and
Tracking from Videos for Surveillance Applications”
published in the year 2022. Artificial intelligence is a recent
topic in computer science study right now. A machine must
be aware of its surroundings in order to function
intelligently. Humans require visual information to function.
The field of research known as "Computer Vision" focuses
on automatically interpreting images and image sequences.
In other words computer vision is the scientific discipline
that aims for extracting information from visual data. In a
video sequence, moving object tracking refers to constantly
recognizing an object's position and orientation despite
camera or object movement. The task of following one or
more things around a scene from when they first appear to
when they leave is known as object tracking. An item can be
anything of interest in the scene that can be detected, and it
is determined by the scenario's requirements. Object
tracking systems are generally used in surveillance
applications where moving individuals and/or vehicles must
be monitored. Moving object detection, object tracking, and
event recognition are the three basic components of any
surveillance system. The performance of such system
considerably depends on its first step that is detection of the
foreground objects. These are the objects which are not
background objects. These foreground objects have a
important role in subsequent processes, such as event
detection. To work properly, every object detector requires
an object model, which specifies the look of objects or asset
of rules to determine whether a specific patch (region) from
an input image contains an object of interest.
III. EXISTING SYSTEM
The existing system utilizes a robot equipped with a
camera to provide remote monitoring and surveillance
through live video streaming and web-based control.
However, the system may face challenges in certain indoor
surveillance situations due to factors such as poor lighting or
the layout of the room. Additionally, the robot may be
restricted in terms of its mobility, making it challenging to
monitor certain areas effectively. One major limitation of
the existing system is the difficulty in detecting objects
within the surveillance area. The reliance on a simple
camera feed and remote control limits the system's ability to
provide advanced object detection capabilities. This can
result in missed or delayed alerts for potential threats or
incidents, reducing the overall effectiveness of the system.
Therefore, there is a need to enhance the object detection
capabilities of the system to improve its reliability and
performance in real-world surveillance scenarios.

IV. PROPOSED SYSTEM

The proposed system is a real-time surveillance rover that
provides advanced surveillance capabilities with a 180-
degree camera and real-time communication. The system
includes an adjustable flashlight that enhances visibility in
low-light conditions, providing better surveillance
capabilities in challenging environments. Its tracks and
chain wheel design allow for smooth operation on a variety
of hard surfaces, making it an ideal choice for a range of
surveillance applications. The system has the ability to
detect objects using the OpenCV Python library, which
enables it to identify and track objects in real-time. With its
pan-tilt control, the camera can be adjusted remotely,
providing a broader range of surveillance capabilities. The
rover is controlled by an Arduino UNO R3 and can be
remotely controlled via a Wi-Fi connection, providing an
efficient and effective method for remote monitoring and
surveillance. The system has a web-based control Interface (b) Camera Module
that allows users to view the live video stream and control
the rover's movements and camera settings. The proposed
system is highly versatile, allowing it to be used in a range
of applications such as security, surveillance, and search and
rescue operations. The system's object detection capabilities
provide an added layer of security and surveillance,
allowing it to detect and track objects in real-time,
enhancing its overall surveillance capabilities.

V. SYSTEM ARCHITECTURE DIAGRAM

(a) Microcontroller and Control Module

VI. MODULE DESIGN

LIST OF MODULES
1. Chassis and Mobility Module
2. Camera Module
3. Microcontroller and Control Module
4. Power Supply Module

MODULE DESCRIPTION

CHASSIS AND MOBILITY MODULE: This module

includes the physical structure of the robot, such as the
chassis, tracks, wheels, and motors. It also involves
selecting the appropriate motor drivers to control the robot's
movement.
CAMERA MODULE: This module includes selecting and
configuring the camera to be used for surveillance, along
with any additional equipment needed such as adjustable
flashlight or lenses.
MICROCONTROLLER AND CONTROL MODULE: This
module involves selecting and configuring the
microcontroller board that will be used to control the robot,
receive commands from the user, and process data from the
camera. It also includes selecting and configuring the
Bluetooth module for communication with the user's mobile
device.
POWER SUPPLY MODULE: This module involves
selecting and configuring the power supply for the robot and
its components, such as the battery or external power
source. It also includes selecting and configuring voltage
regulators or converters to ensure that the components
receive the appropriate power supply voltage.
VII.CONCLUSION
In conclusion, the real-time surveillance rover is a cutting-
edge surveillance solution that provides several advantages
over traditional surveillance systems. It enables remote
monitoring and control with live video streaming
capabilities, making it ideal for use in a variety of
applications such as security, monitoring of hazardous
environments, and search and rescue operations. The
adjustable flashlight provides enhanced visibility in low-
light conditions, and the tracks and chain wheel design
allow for smooth operation on various surfaces. The use of
machine learning techniques in object detection and tracking
further enhances the system's capabilities, providing real-
time alerts and improving the accuracy of threat detection.
By utilizing the OpenCV library, the system is capable of
detecting objects with high precision, even in challenging
lighting conditions. Overall, the real-time surveillance rover
represents a significant advancement in the field of
surveillance, offering a flexible, versatile, and efficient
solution for remote monitoring and control. Its ability to
detect objects and provide real-time alerts makes it an
essential tool in a range of applications, providing enhanced
security and safety while reducing the need for human
intervention in hazardous or challenging environments.
With ongoing advancements in technology, we can expect
to see further development and refinement of these types of
systems, paving the way for safer and more secure
communities.
VIII.FUTURE ENHANCEMENT
Integrating advanced object detection and tracking
algorithms using machine learning techniques to improve
the accuracy and efficiency of the system. Implementing a
real-time alert system to notify the user of any potential
security threats or suspicious activity detected by the robot.
Enhancing the mobility of the rover by adding more
advanced motion control and obstacle avoidance
capabilities. Incorporating additional sensors and modules,
such as gas and smoke detectors, to enable the robot to
monitor environmental conditions and provide early
warning alerts for potential hazards. Implementing a cloud-
based storage and analysis system to allow for remote
access to video footage and other data captured by the robot.
IX. REFERENCES
[1] Kim M., Kang K.C., Lee H. Formal Verification of
Robot Movements - a Case Study on Home Service Robot
SHR100. In the Proceedings of the IEEE International
Conference on Robotics and Automation (ICRA), 4739-
4744p, 2021.
[2] J. Davis, C. Smyth, and K. McDowell, ‘‘The effects of
time lag on driving performance and a possible mitigation,’’
IEEE Trans. Robot., vol. 26, no. 3, pp. 590–593, Jun. 2020.
[3] S. Higginbotham, ‘‘Autonomous trucks need people
[opinion],’’ IEEE Spectr., vol. 56, no. 3, p. 21, Feb. 2019.
[4] K. Kukkala, J. Tunnell, S. Pasricha, and T. Bradley,
‘‘Advanced driverassistance systems: A path toward
autonomous vehicles,’’ IEEE Consum. Electron. Mag.,
vol.7, no. 5, pp. 18–25, Sep. 2018
[5] G. Gualdi, A. Prati, and R. Cucchiara, ‘‘Video streaming
for mobile video surveillance,’’ IEEE Trans. Multimedia,
vol. 10, no. 6, pp. 1142–1154, Oct. 2018.
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