1. SnoopyBot Department of Computer Engineering Senior Project Winter 2005 The objective of SnoopyBot is to create a wireless robotic surveillance vehicle with custom movement and surveillance algorithms. The main objective in the realization of SnoopyBot is to use as many off the shelf parts as possible to allow more emphasis to be placed on our high level and low level software algorithms. Thus SnoopyBot is equipped with extremely robust functionality while maintaining the reliability of commercially tested components. PartVendorPrice $QuantityTotal Price $ Price Paid $ Wireless CamLinksys1501 HC12RIT1251 0 US Distance SensorHobbyengineering35135.00 35 RC 4 wheel drive vehicleBudget Robotics551 0 Servo motorsRIT5210 0 Aircable wireless connectorsAircable692138 Base Station PCBob’s Computer Store3001 0 Wireless RouterBob’s Computer Store601 0 BatteriesRadioshack15345 OPB 745Digikey428 8 MiscellaneousHome Depot/Lowes60- Total 986 436 Cost Table Flow Chart of Web interface Tank Intruder Tank Intruder Alarm Fired Snapshot of the manual mode Snapshot of the route capture mode Snapshot of the autonomous mode Three consecutive stages during autonomous mode of operation- First scenario shows that a path has been given through route capture mode from the web portal. The route consists of turns and forward commands. Second stage consists of detecting an intruder. Objects are detected before a forward command is executed. Before each forward command, snoopy checks to see that there are objects within 15 inches. During Autonomous mode, any object detected in front causes an intruder alert. DC Motors circuitry Low-level Assembly Flow chart When a command is received from the basestation, Snoopy checks to see if the command is valid or not. If not valid, then nothing happens. However, if the command is a valid command, then Snoopy performs the command issued by the user. Ultrasonic sensor -SRF04- is used to detect objects and motion. When a forward command is issued, Snoopy turns the ultrasonic sensor on and checks to make sure that there’s nothing within 15 inches of the vehicle. When in wait mode, Snoopy checks for motion using the same sensor in all directions. A 10 µs pulse is sent through PB0 of the HCS12 to activate the ultrasonic sensor. Once activated, the output signal of the sensor goes high. When an object is detected, the output signal goes low and the output signal pulse is used to calculate distance. Ultrasonic Sensor A D-Link wireless webcam is used to transmit live video. The webcam is powered up using power available onboard the vehicle. Aircable serial-to-serial wireless connectors are used for communication between the basestation and Snoopy. Wireless Cam Wireless Connectors SnoopyBot’s custom software is a marriage between high-level and low-level code spanning over languages such as PHP, MYSQL, C, and Motorola assembly. The objective of using such a broad collection of technologies is to intertwine complicated electronics with an easy to use interface. High-level basestation flowchart Harsh Sharma is a 5 th Computer Engineering student Who plans on pursuing his MBA upon graduation. Harsh enjoys tennis, golf, and watching movies. Harsh led the low-level aspects of the project such as HCS12 Programming and overall circuitry of the system. Donny Yi (5 th year computer engineer) worked on the high-level design and implementation of SnoopyBot. Donny enjoys spending time indoors, the warm comforting glow of computer monitors, and artificial light.