Team Project:A Surveillant Robot System

Little Red TeamChankyu Park (Michael)

Seonah Lee (Sarah)Qingyuan Shi (Lisa)

Chengzhou LiJunMei Li

Kai Lin

Functional Analysis

April 20, 2023 2

System Overview

IR Communication

A remote user

The invaderRobot

The surveillantrobot

Robot main controller

Room

Remote Control robots,Receive a detected signal,

See behavior of robots

Control robots,Play a bridge role between

robots and remote user,Provide live video

A WebCam

USB

Internet

USB

InfraRed Internet

System & User

Legend

A lab experimenter

April 20, 2023 3

Top-level function

2: Manage Robots

A lab experimenter, Robot main controllerA

larm

1: Manage system

5: Detect an intruder/an survelliant

A remote user, A remote Computer

3: Transfer live videoA lab experimenter,

Robot main controller

Sen

d

vid

eo

con

trol

Noti

fy

4: Wandering

Both robots

Con

trol

Rob

ot

Both cameras

6: Raise alarmC

on

trol

cam

era

Noti

fy

A survelliant robot

7: Runaway

A intruder robot

Runaway

Con

nect

status

Sta

tus

April 20, 2023 4

2nd-level functions (1/7)

1: Manage systemA remote computer

Receive Notify

1.3: RMI Proxy

1.4: Notify detection to the user

VideoStream

1.7: Stream buffering

1.8: Display video

Control robots

1.1a: select function

1.2: RMI proxy

Connect video

1.1b: configure connection

1.6: open connection

P2P cam software

Client Program RMI RegistryA Remote User

RMI Registry Client Program

FTPA Remote User

FTP P2P cam software

April 20, 2023 5

2nd-level functions (2/7)

2: Manage RobotsMain Control Computer

Control from

remote

2.1: RMI proxy

2.7: transfer camera command Control

camera

Notify from

camera

Status of robot

Controlrobots

Notify to remote

Raise alarm2.6:

conversion of notification

2.8: transfer robot command

2.5: analyze status

2.3: camera proxy

2.3: Camera proxy

2.2: IR proxy

2.4: command dispatcher

2.2: IR proxy

2.1: RMI proxy

runaway

2.2: IR proxy - survellinet

2.2: IR proxy - intruder

A Remote User

RMI Registry

Initiate

Server Program

Server Program

Server Program IR Tower

IR Tower Server Program

Vision Recognition SW

Vision Recognition SW Server Program

RMI Registry

IR Tower

IR Tower

April 20, 2023 6

2nd-level functions (3/7)

3: Transfer live video

Connect Video

3.1: Initialization

3.2: Open connection

Video stream

3.3: Sending Video

Web Cam

Main Control Computer

Initiate

P2P cam software

A Remote User

P2P cam softwareFTP

P2P cam software

FTP

April 20, 2023 7

2nd-level functions (4/7)

4: WanderingBoth robots

ControlRobots

4.2.3: detect wall

4.2.2: control motors

4.1.1: Initialization

4.1.2: Standby

4.1.3: Run

4.2.1: decide direction

4.2.4: receive signal from sensor

4.1: Start wandering 4.2: Control WanderingStatus of

robot

4.1 4.2

Embedded program Embedded Program

MotorsWheels

Touch Sensors

MotorsWheels

Walls

April 20, 2023 8

2nd-level functions (5/7)

5: Detection of Intruder/SurvelliantBoth cameras

Control

5.2.4: recognize object

5.2.2: Divide region

5.2.1: capture video

5.2.3: detect color

5.1: Start detection 5.2: Control detectionNotify

from the camera

5.1.1: Initialization

5.1.2: Standby

5.1.3: Run

5.1 5.2

MotorsWheels

Vision Recognition SWVision Command

Vision Recognition SWVision Command

IR Tower

April 20, 2023 9

2nd-level functions (6/7)

6: Raise alarmA survelliant robot

Alarm 6.1: IR Proxy 6.2: Raise alarm

7: Runaway Intruder robot

runaway 7.1: change runaway mode 7.2: start runaway Status

IR Tower

IR Tower Embedded programMotorsWheels

Embedded programSound device

April 20, 2023 10

States and Modes - 1

Modes of both robots States of survellient robot

Stand-by

Run

Test ModePausing &Alarming

Ready

Wandering

StartStop

DetectingStart

Time-out

Stop

Stop

April 20, 2023 11

States and Modes - 2

States of intruder robots

Runaway

Ready

Wandering

StartStop

DetectingStart

Start

Stop

Stop

Modes of both robots

Stand-by

Run

Test Mode

April 20, 2023 12

A Remote Computer RCXTM Microcomputer

Robot Main Controller

Functional Architecture

Robot Controller

Commander

Vision Recognition

P2P CamSoftware

Wandering

Mode Checker

GUI

IR TowerVision

Command2 Motors

Web Cam

Operator

8-bit processor

32kb RAM

A serial data communication

port

2 Touch Sensors

Input port

Output port

P2P CamSoftware

FTP RMI

IR

1..n

1

1..n