SnoopyBot Team: Harsh Sharma Donny Yi

Snoopy-Introduction A surveillance tank with web interface and a mounted webcam for live video feed Three different modes of operation: Manual Route Capture Autonomous Intruder detection

Snoopy-Applications Security Home Home users can access the website and watch the live video feed Users can specify the routes for the robot to monitor in a house, if any new object/intruder is detected in the path, users will be notified Public Places During closed hours, snoopy can monitor public places (i.e. malls, secure locations) and alert the security if unusual activity is detected Dangerous/Human Inaccessible Locations Snoopy can be used in manual mode to explore places not suitable for humans

Snoopy-Performance Specifications Major Components: Tankbot with DC motors HCS12 Microcontroller Ultra Sonic Range Finder (SRF-04) Infrared Motion Detector Sensor Two servo motors Cybiko Wireless Webcam with a built-in web server Wireless router And of course, a Personal Computer

Snoopy-Component Placement

Snoopy-Main Components details Webcam:Stream live video to the internet via built in web server. Servomotors:Provide x and y axis movement to the camera DC motors:Responsible for tank’s movement US range finder:Forward looking for intruders/obstructions IR motion detection sensor:Intrusion detection Cybiko:Wireless communication between the tank and the base station HCS12:Control the vehicle

Snoopy-Modes of Operation- Autonomous Traverse pre-determined path while sensing for intruders Upon sensing intruder, halt operation and alert the user Provide live video feed at all times Valid moves are:Straight in unit distances of 15 inches and right and left turns-restricted to 90 degrees

Snoopy-Autonomous Mode Operation

Snoopy-Autonomous Mode Operation(contd.)

Snoopy-Modes Of Operation- Manual The user has full control of vehicle and camera movement Valid moves are:Straight in unit distances of 15 inches and right and left turns-restricted to 90 degrees Provide live video feed at all times If obstruction is detected one unit distance ahead, can’t move forward but turns are allowed

Snoopy-Modes Of Operation- Route Capture The vehicle “learns” new routes Multiple routes can be stored Route capture mode is an extension of manual mode-every valid move made is captured in a “recipe” Stores camera movements as well as vehicle movements

Snoopy-Implementation Tank Movement: Facilitated by two independent DC motors Shaft-encoders ensure consistent operation Motors driven by HCS12 in conjunction with H-bridges Camera Movement: Facilitated by two servomotors:one for x- coordinate and one for y-coordinate Both servomotors controlled by the HCS12

Snoopy-Camera servo positions

Snoopy-Wireless communication Serial Port communication Custom development SDK Built in wireless transceiver High capacity NiMH 700 mAh rechargeable battery It’s low-cost(CHEAP!!)

Snoopy-Range Finder Ultrasonic range finder used for obstruction/intruder detection placed in the front of the vehicle Also responsible for detecting obstacles that can hinder the vehicle’s path The sensor limit for detecting object is from 3cm to 3m

Snoopy-Range Finder

The input port or the ‘trigger’ input will be connected to port A (PA7) of the HCS12 board A 100 us pulse needs to be applied to this port to activate the sensor The output port of the sensor or echo port would be connected to port T (PT7) to perform pulse manipulation functions.

Snoopy-Beam Characteristic

Snoopy-Distance Timing

Snoopy-Motion Detection Sensor(MDS) Once the vehicle is in a stationary position, the MDS is activated if motion is detected by the MDS the system is notified MDS is disabled/ignored until the MDS reaches its final position and has had enough time to come to a complete halt

Snoopy-H-Bridge Schematic

Snoopy-Overall System Interface

Snoopy-Overall System Flowchart

Snoopy High Level Components Base Station Old Pentium Pro 200 Runs Debian Linux 3.0 C++/Java for base station application Runs MYSQL and PHP server Runs Apache to serve the GUI Camera Communication Wireless Router

Snoopy-High Level Components Cont. MYSQL Store various routes and differentiates them with unique route ID Each unique route consists of ordered sequence of commands C++/Java High Level language is used to bridge MYSQL to serial port as well as the overall logic of the system PHP Used to produce dynamic web interface that ties into the SQL database

Snoopy-GUI example

Snoopy-Web Interface Flowchart

Snoopy-Testing Strategy Low level to high level component testing strategy Sensors-voltage characteristics, noise problems/filtering, power consumption, testing under various environmental conditions Movement-reliable distance in varying power scenarios Wireless communication-reliable transmission and investigation of interference problems Camera control-accurate and repeatable positions Integration Ensure vehicle operates properly without wireless communication Integrate base station to vehicle communication Test high level to low level interface (PHP, SQL, C++ to com port of the base station)

Snoopy-Power Consumption

Snoopy-Cost Estimates

Snoopy-Timeline

Snoopy-Responsibilities Harsh Sharma Sensor interface DC motor drive Servo motor control Vehicle level communication System Integration Testing Donny Yi SQL database Serial interface Wireless Communication Base Station Configuration System Integration Testing

Thanks for your attention Questions Comments Concerns?