Title - Spheroid

Abstract -

Today there is so much advancement in technology that the terrorist groups have become
high-tech. Hence, with increasing terrorist attacks in the country, there is an immense need to
protect the innocent civilians, who get killed without any reason. Sometimes the issue arises
too much that even soldiers get caught in these attacks and thus killed.

When such attacks happen in a multi-storied building, the first thing done is that all the
surveillance systems are destroyed so as not to leave any evidence behind. This creates a
mess for the soldiers as they are unable to detect the number of terrorists and the internal
structure of the building. To prevent such kind of incidents, we have devised a robot which
will help the soldiers in controlling the situations by not going to the place of need directly
but operating it from a safe location.

Our proposed design of robot will work as a mobile surveillance and is focused to serve two
purposes. First is autonomous navigation and path planning while other is real time image
processing and transmission. These two features will help in generating a building plan on
how to approach the building and rescue the hostages easily. Due to its compact size and
spherical shape, the robot will prove itself as an advantage since it will seem like a playing
ball rather than a suspicious object. Along with a camera, there will be number of sensors
employed in this robot like PIR sensor for detecting any kind of obstacle or motion inside the
building, humidity and temperature module (DHT11) for sensing the temperature of the
rooms and various others. All the collected data will be sent to the operator operating the
robot using NRF module enabling an excellent wireless communication between the security
agencies and the robot.

Motivation -

"WE MAKE A LIVING BY WHAT WE GET, BUT WE MAKE A LIFE BY WHAT WE

GIVE"

- WINSTON CHURCHILL

Whenever any attack happens in the country, TV channels display news of many civilians
and soldiers getting killed. This depresses us since soldiers are the lifeguard of our country
and their life is important too. As the future of tomorrow, this motivated us to help our
soldiers in need out there.

Specialized knowledge -

We have the knowledge on microprocessors and microcontrollers such as Atmega and

Raspberry pi besides having worked on projects related to them.

C and Python also come under our area of expertise.

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Participation / awards -

 We have participated in technical events conducted by e-Yantra.

 We have also participated in Robo-racing competition at college level.

Planning –

 Representation of innovative ideas.

 We will use 2D model to exhibit our idea.
 Representation of idea using prototype.

Technical proposal –

The hardware of the system consists of Raspberry Pi acting as the Central Processing Unit
which will be used for controlling the other modules and sensors connected to it. The
modules connected are GSM module which will be used for communication, IC L293D
which will be used to control the servo motors, camera module with IR Sensor to get the
photos and video outputs during the whole day, ultrasonic SR04 sensor which will be used to
detect any obstacles coming in the path and lastly, PIR sensor which will be used for
detecting the motion of subject of interests (people, animals, etc.).

The spheroid consists of the Raspberry Pi which will be the main component of our system.
All the sensors, GSM and GPS and camera modules will be connected to the Raspberry Pi via
different pins and ports.

GSM module will help in the connectivity of our robot with the network. The instructions or
commands will be fed to the robot by the operator using network.

Camera module will capture the photos and stream live videos of the footage inside the
building using real time image processing technique and will transmits them to the soldiers,
who afterwards, will take action against the terrorists groups as per the information. The GPS
module will allow the robot to provide its exact location inside the building and generate a
map for the rescue operation.

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 Fig.1 Block diagram of Spheroid

Hardware Description -

List of components:-

S.NO MATERIAL MATERIAL COUNT

1. 1
Microcontroller
2. 3
Servo Motor
3. 2
DC Motor
4. 1
Motion Sensor
5. 1
Ultrasonic Sensor

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 6. 1
Temperature and Humidity sensor
7. 1
GPS sensor
8. 1
PIR sensor

9. Rechargeable DC power supply 1

10. PCB board 1

Microcontroller (Raspberry pi) -

The Raspberry Pi 3 is a small debit card-sized computer upon which the functionality of our
robot will depend. It is an ARM cortex based popular development board designed for
electronics engineers and makers. It’s a single board computer working on low power with
high processing speed and memory.

Raspberry Pi is usually used for performing different functions at a time, like a normal PC
and in smart devices. Hence it is called a ‘mini computer’. Here, all the other modules and
sensors will be connected to it.

Specifications -

CPU - 1.2 GHz 64-bit quad-core processor

Memory - 1GB

Video outputs - HDMI connectivity

On-board storage - Memory card port

On-board network - Ethernet, wireless Bluetooth

Power source – 5 Volt

Weight - 45g

Size - 85.6mm x 56.5mm

Camera module -

Here, a camera module will be used which will be connected directly to Raspberry Pi 3. The
operating system makes it perfect for time-lapse photography, recording video, motion
detection and other security applications. Here, a ribbon cable will be connected to the CSI
(Camera Serial Interface) port on the Raspberry Pi board.

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The module consists of an infrared (IR) night vision camera, which depends on infrared light.
The thing is infrared light is completely invisible to a naked eye. It doesn’t look like a bright
light flooding its outer area from outside, but it actually is. Furthermore, night vision footage
from will look black and white since human eyes can differentiate between black and white
better than they can with other shades of colour like red or blue.

Ultrasonic sensor (HC-SR04) -

The ultrasonic sensor HC-SR04 which is a distance calculating device will be used in the
project. It will give our robot that special awareness through which it will be able to prevent
itself from crashing or falling off a wall. This sensor is used in various applications. Here, the
sensor will be used with the Raspberry Pi3 board and a processing sketch to provide a neat
and little interactive display on the computer screen.

This sensor will emit an ultrasound signal at 40,000 Hz which travels through the air and if it
encounters any obstacle in its path, it will bounce back to the module. It will help in
measuring the distance between the obstacle and the robot, according to the timing and
velocity of the sound wave with which it will be sent.

Temperature and humidity sensor (DHT11) -

The DHT11 sensor consists of a thermistor along a resistive humidity sensor. This sensor will
be connected to the Raspberry Pi 3 board. This module will prove itself beneficial in such
incidents where a fire has broken out in the building with hostages inside it. The robot will
provide the soldiers readings of the temperature and humidity inside the building. As a result,
it will be easy for soldiers wearing well-equipped and fire-resisting clothes, to rescue the
hostages still inside the building. The sensor showcases its excellent quality, fast response
and anti-interference ability.

Motor -

A small DC servo motor will be used in this project. A servo motor comprises of four things:
a normal DC motor, position-sensing device, a gear reduction unit and a control unit.

The function of the servo will be to receive a control signal that represents a desired output
position of the servo shaft, and apply power to its DC motor until its shaft turns to that
position. It will use a position sensing device to determine the rotational position of the shaft,
so it knows which way the motor must turn to move the shaft to the commanded position. A
servo motor can usually only turn 90o in either direction for a total of 180o movement.

The signal received by the servo will be an electrical pulse of pulse width modulation (PWM)
through the control wire.

The servo motors will be used whenever there will be a need for accurate shaft movement or
position. Because they use feedback to determine the position of the shaft and thus the
position can be controlled very precisely. So servo motors will be used to control the position

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of our robot. Since these motors are small in size and have built-in circuitry to control their
movement, they will be connected directly to Raspberry Pi.

Fig.2 Schematic diagram of spheroid

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 Power
ON

Instructions
received by
operator

Robot activated

Intelligence provided
to robot (Recording No Availability of
mode ON) network ?

Yes

Detection of objects Send video frames to

and humans operator

Automatically sends Generation of the map as per

information when the scenario
network detected

Follow instructions
Follow instructions
provided by operator
provided by operator

Fig.3 Flow chart of the spheroid

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For 2nd screening –

In this phase, we will be representing the spheroid in 3D format with the help of a suitable
software. In the 3D model, we will provide the exact dimensions and proper functioning of
each and every part of our robot. We will provide the information about each part separately
and how various sensors present in our model, will work to overcome the problems faced by
the robot.

For 3rd screening -

In this phase, we will make a prototype of our robot and work on the installation of various
sensors, servo motors, DC motors, camera module, etc. We will program our microcontroller
according to our prospective. Further, debugging process and testing of various sensors and
others parts (hardware) of our robot will be done.

Our plan to mature into a realizable prototype –

In the final phase, we will do the final testing of the spheroid. We will also check its
performance in the real conditions.

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