video survillance report

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VIDEO SURVILLIANCE ROBOTA PROJECT REPORT

Submitted at

Rajiv Gandhi Technical University, Bhopal

In partial fulfillment of the degree

Of

Bachelor of EngineeringIn

Electronics and Communication

Submi tted by

1) Nitin Kumar Gupta 0812EC0910662) Prateek Gurjar 0812EC0910803) Rashida Singapurwala 0812EC091090

Electronics and Communication Department

MEDI-CAPS INSTITUTE OF TECHNOLOGYAND MANAGEMENT INDORE- 453331

2012-2013


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ACKNOWLEDGEMENT

We offer our sincere appreciation to all the people providing support to this project. The completionof any inter disciplinary project depends upon the co-ordination, support and combined effort ofseveral resources of knowledge, skill, labour and time, the precious guidance, spiritual help ofguides.

First and Foremost, we would like to pay the depth of gratitude with sense of heartfelt andindebtedness to our project guide Mr. Vinit Gupta (Faculty, Electronics and CommunicationDepartment) for the assistance he extended.

Nitin Kumar GuptaPrateek GurjarRashida Singapurwala


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MEDI - CAPS INSTITUTE OF TECHNOLOGY & MANAGEMENT

DEPARTMENT OF ELECTRONICS AND COMMUNICATION

CERTIFICATE

This is to certify that:Nitin Kumar Gupta 0812EC091066Prateek Gurjar 0812EC091080Rashida Singapurwala 0812EC091090

Have completed their major project work, titled

VI DEO SURVI L L I ANCE ROBOT

As per the syllabus & have submitted a satisfactory report on this project as a partialfulfillment towards the degree of

Bachelor of EngineeringIn

Electronics and Communication

FromRajiv Gandhi Proudyogiki Vishwavidyalaya, Bhopal

Ms.Vibha Tiwari Mr. Vinit Gupta

HEAD OF THE DEPARTMENT PROJECT GUIDE

Electronics Department Electronics Department


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CONTENTS

Chapter No Subject Page No.

1. Design Objective 4

2. Physical & Technical Specifications 4

3. System Description

3.1 Introduction 6

3.2 Block Diagram & Description 7

3.3 Schematic Circuit Diagram 13

3.4 List of Components 20

3.5 Flow-Chart 22

4. List of figures & Tables 16

5. References 16


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Design Objective

Primary objective of the project is to design an intelligent, robust and economic robot which

may be used in surveillance and espionage of environment which have applications inmilitary services, banks etc.

Physical and Technical Description

1) Physical description

Dimension- 25 x 10 cm

2 motors with high torque 100 rpm

Medium size tiers

Chassis colour- Red

2) Technical Description

Power Supply Requirement: 5 V

Operating Temperature: Room temperature

Operating voltage for XBEE: 3.3V

Nature of Display: Graphical user interface designed in MATLAB environment


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System Description:

3.1 Introduction :

The general purpose of this project is the surveillance applications by using object

detection techniques and calculating parameters like object distances assisting security

personnel. Video surveillance systems provide easy and safe access as well as record live

images from the security region. To accomplish this goal our group is using digital image

processing for object detection and a graphical user interface designed in MATLAB

environment as an on screen display.

This project concerns the task of performing automatic annotation of object in the

proximity of robot. To perform automatic annotation, the object present in the image must

be found. This is done using the codebook background subtraction method, where a

dynamically updated background model constitutes the reference with which to detect

foreground objects, in this case red circular object. A shape based object classification

ensures that the following tracking, based on features of the detected objects, only tracks

specific object in the scene and not background clutter or noise. The automatic annotation

consists of estimates of the height and the color of the object. The height is estimated using

a camera projection matrix, which maps from actual coordinates to image coordinates. The

color description is estimated using a clustering approach in HSV color space. Annotations

are continuously attached to all tracks. To compensate for inaccuracies in the performed

estimates, only the statistically most fitting annotation is saved along with the track. The

system is implemented in MATLAB with use of the image processing techniques. It is in

functional condition, and can handle a limited number of simultaneous objects in the scene.

It does, however, require initial training of the background model and calibration of the

annotation module.

In Electronics and telecommunication, image processing is any form of signal processing

for which the input is an image, such as a photograph or video frame; the output of image

processing may be either an image or a set of characteristics or parameters related to the

image. Most image-processing techniques involve treating the image as a two-dimensional

signal and applying standard signal-processing techniques to it. Image processing usually

refers to digital image processing, but optical and analog image processing also are


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possible. The acquisition of images (producing the input image in the first place) is referred

to as imaging.

3.2 Block diagram and System description

Camera:-

A webcam is a video camera that feeds its image in real time to a computer or computer

network . A webcam is generally connected by a USB cable, FireWire cable, or similar cable

to the pc. Here we can connect also webcam of laptop.

Motor Driver Section:-

A L293D is an Integrated Circuit (IC) chip with a High Voltage/High Current Darlington

Transistor Array. It allows you to interface TTL signals with higher voltage/current loads.

The chip takes low level signals (TLL- which operate at low voltages and low currents) and

acts as a relay of sorts itself, switching on or off a higher level signal on the opposite side.

By this IC we can run any electrical device upto 32Volts DC like Motors, relays, DC fans

etc.

Multilayer Capacitors (C9-C15) are used as filter capacitor for filtering any kind of high

frequency noise coming back from motors. This noise can harm the functioning ofMicrocontroller. LEDs are used to indicate logic level on the lines. X1-1,X1-2 X2-1,X2-2
http://en.wikipedia.org/wiki/Video_camerahttp://en.wikipedia.org/wiki/Video_camerahttp://en.wikipedia.org/wiki/Video_camerahttp://en.wikipedia.org/wiki/Computerhttp://en.wikipedia.org/wiki/Computerhttp://en.wikipedia.org/wiki/Computer_networkhttp://en.wikipedia.org/wiki/Computer_networkhttp://en.wikipedia.org/wiki/Computer_networkhttp://en.wikipedia.org/wiki/Computer_networkhttp://en.wikipedia.org/wiki/Universal_Serial_Bushttp://en.wikipedia.org/wiki/Universal_Serial_Bushttp://en.wikipedia.org/wiki/Universal_Serial_Bushttp://en.wikipedia.org/wiki/FireWirehttp://en.wikipedia.org/wiki/FireWirehttp://en.wikipedia.org/wiki/FireWirehttp://en.wikipedia.org/wiki/FireWirehttp://en.wikipedia.org/wiki/Universal_Serial_Bushttp://en.wikipedia.org/wiki/Computer_networkhttp://en.wikipedia.org/wiki/Computer_networkhttp://en.wikipedia.org/wiki/Computerhttp://en.wikipedia.org/wiki/Video_camera


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are the terminal points where motors/relays can be connected. These can be connected with

any I/O pin of the controller.

Power Supply:-

The Power Supply Section Consists of 230 V AC supply to the 12V AC Transformer. The

secondary of the transformer connect with the Bridge rectifier which is made of the

combination four IN4007diode. Using Bridge rectifier we can get 12V pulsating DC which

is filtered by a smoothing capacitor. After these supply is given to the 7805 IC which

converts 12Vdc supply into the 5 V DC supply. This IC consists of three pin that is 12 V dc

for input Middle pin for GND and remaining one for 5V DC. Led are use to indicate Power

on.

ATMEGA8:-

28 Pin DIP Microcontrollers with 8 KB Flash, 2 KB EEPROM, 6 Channel 10 Bit ADC & 3

PWM Channels. Very cheap and popular AVR 8-bit Microcontroller with lots of good

features.

Atmel's ATMega8 8-Bit Processor in 28 pin DIP package. 8K of program space. 23 I/O

lines, 6 of which are 10bit Analog to Digital converter capable. Runs up to 16MHz withexternal crystal. Package can be programmed in circuit.


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Features:-

High-performance, Low-power AVR 8-bit Microcontroller

Advanced RISC Architecture

131 Powerful Instructions Most Single Clock Cycle Execution

32 x 8 General Purpose Working Registers

Fully Static Operation

Up to 16 MIPS Throughput at 16 MHz

On-chip 2-cycle Multiplier

Nonvolatile Program and Data Memories

8K Bytes of In-System Reprogrammable Flash Endurance: 10,000 Write/Erase Cycles

Optional Boot Code Section with Independent Lock Bits

In-System Programming by On-chip Boot Program

True Read-While-Write Operation

512 Bytes EEPROM


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1K Bytes Internal SRAM

Programming Lock for Software Security

JTAG (IEEE std. 1149.1 Compliant) Interface

Boundary-scan Capabilities According to the JTAG Standard

Extensive On-chip Debug Support

Programming of Flash, EEPROM, Fuses and Lock Bits through the JTAG Interface

Peripheral Features

Two 8-bit Timer/Counters with Separate Prescalers and Compare Modes

One 16-bit Timer/Counter with Separate Prescaler, Compare Mode, and Capture Mode

Real Time Counter with Separate Oscillator

Four PWM Channels 8-channel, 10-bit ADC

Byte-oriented Two-wire Serial Interface

Programmable Serial USART

Master/Slave SPI Serial Interface

Programmable Watchdog Timer with Separate On-chip Oscillator

On-chip Analog Comparator

Special Microcontroller Features Power-on Reset and Programmable Brown-out Detection

Internal Calibrated RC Oscillator

External and Internal Interrupt Sources

Six Sleep Modes: Idle, ADC Noise Reduction, Power-save, Power-down, Standby, and

Extended Standby

Software Selectable Clock Frequency

Operating Voltages

2.7 - 5.5V for ATmega8L

4.5 - 5.5V for ATmega8

Speed Grades

0 - 8 MHz for ATmega8L

0 - 16 MHz for ATmega8


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XBEE Module Transceiver:-

XBee is the brand name from Digi International for a family of form factor compatible

radio modules. The first XBee radios were introduced under the MaxStream brand in

2005 [2] and were based on the 802.15.4- 2003 standard designed for point-to-point and star

communications at over-the-air baud rates of 250 kbit/s .[3]

Two models were initially introduced a lower cost 1 mW XBee and the higher power

100 mW XBee-PRO .[4] Since the initial introduction, a number of new XBee radios have

been introduced and all XBees are now marketed and sold under the Digi brand.

The XBee radios can all be used with the minimum four connections power (3.3 V),

ground, data in and data out (UART) , with other recommended lines being Reset and

Sleep .[5] Additionally, most XBee families have some other flow control, I/O, A/D and

indicator lines built in. A version of the XBees called the Programmable XBee has an

additional onboard processor for users code. The Programmable XBee and a new surface

mount (SMT) version of the XBee radios were both introduced in 2010 .[6] An extensive

collection of XBee projects complete with photos, videos, information and documentation

can be found on the Digi XBee Project Gallery. The gallery is regularly updated and

projects can be submitted to the site.
http://en.wikipedia.org/wiki/Digi_Internationalhttp://en.wikipedia.org/wiki/XBee#cite_note-2http://en.wikipedia.org/wiki/XBee#cite_note-2http://en.wikipedia.org/wiki/802.15.4http://en.wikipedia.org/wiki/XBee#cite_note-3http://en.wikipedia.org/wiki/XBee#cite_note-3http://en.wikipedia.org/wiki/XBee#cite_note-3http://en.wikipedia.org/wiki/XBee#cite_note-4http://en.wikipedia.org/wiki/XBee#cite_note-4http://en.wikipedia.org/wiki/XBee#cite_note-4http://en.wikipedia.org/wiki/UARThttp://en.wikipedia.org/wiki/XBee#cite_note-5http://en.wikipedia.org/wiki/XBee#cite_note-5http://en.wikipedia.org/wiki/XBee#cite_note-5http://en.wikipedia.org/wiki/Flow_control_(data)http://en.wikipedia.org/wiki/I/Ohttp://en.wikipedia.org/wiki/A/Dhttp://en.wikipedia.org/wiki/SMThttp://en.wikipedia.org/wiki/XBee#cite_note-6http://en.wikipedia.org/wiki/XBee#cite_note-6http://en.wikipedia.org/wiki/XBee#cite_note-6http://gallery.digi.com/http://gallery.digi.com/http://en.wikipedia.org/wiki/XBee#cite_note-6http://en.wikipedia.org/wiki/SMThttp://en.wikipedia.org/wiki/A/Dhttp://en.wikipedia.org/wiki/I/Ohttp://en.wikipedia.org/wiki/Flow_control_(data)http://en.wikipedia.org/wiki/XBee#cite_note-5http://en.wikipedia.org/wiki/UARThttp://en.wikipedia.org/wiki/XBee#cite_note-4http://en.wikipedia.org/wiki/XBee#cite_note-3http://en.wikipedia.org/wiki/802.15.4http://en.wikipedia.org/wiki/XBee#cite_note-2http://en.wikipedia.org/wiki/Digi_International


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Graphical User Interface:-

The graphical user interface is designed in MATLAB environment using the guide function.

The following is the screenshot for the GUI

The axis is used for the onscreen display which receives the images from the webcam

connected to the system. The buttons forward, left, right, backward are used to control the

robot in respective directions. The stop button is used to cease its motion. The distance tab

is used to calculate the object distance before which the start ca, and calibrate tabs are used

for detecting the initial parameters of the object. The exit tab is used for exiting from the

GUI.

By default the mode in which our robot operates is the manual mode which requires a

human operator. In the automatic mode after pressing the calibration tab the robot travel its path automatically and when in the proximity of the object at 20cm it sidetracks the object.


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3.3 Schematic for ARDUINO NG

Layou t for ARDUINO NG:-


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Schematic for Hbridge :

Layout for HBridge:-


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Coding in Arduino

int i;void setup(){

Serial.begin(9600); pinMode(13,OUTPUT); pinMode(8,OUTPUT); pinMode(9,OUTPUT); pinMode(10,OUTPUT); pinMode(11,OUTPUT);

for(i=0;i


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digitalWrite(8,LOW);digitalWrite(9,HIGH);digitalWrite(10,LOW);digitalWrite(11,HIGH);

}if(i == 'r' ){

digitalWrite(8,LOW);digitalWrite(9,HIGH);digitalWrite(10,HIGH);digitalWrite(11,LOW);

}

if(i == 'l' ){

digitalWrite(8,HIGH);digitalWrite(9,LOW);digitalWrite(10,LOW);digitalWrite(11,HIGH);

}if(i == 's' ){

digitalWrite(8,HIGH);digitalWrite(9,HIGH);digitalWrite(10,HIGH);digitalWrite(11,HIGH);

}

if(i == 'a' ){

digitalWrite(8,LOW);digitalWrite(9,HIGH);digitalWrite(10,LOW);digitalWrite(11,HIGH);delay(25);digitalWrite(8,LOW);

digitalWrite(9,LOW);digitalWrite(10,LOW);digitalWrite(11,LOW);i=0;

}if(i == 'p' ){

digitalWrite(8,HIGH);digitalWrite(9,LOW);digitalWrite(10,HIGH);digitalWrite(11,LOW);

delay(25);digitalWrite(8,LOW);digitalWrite(9,LOW);


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digitalWrite(10,LOW);digitalWrite(11,LOW);i=0;

}

if(i == 'd' ){digitalWrite(8,LOW);digitalWrite(9,HIGH);digitalWrite(10,HIGH);digitalWrite(11,LOW);delay(25);digitalWrite(8,HIGH);digitalWrite(9,HIGH);digitalWrite(10,HIGH);digitalWrite(11,HIGH);i=0;

}if(i == 'v' ){digitalWrite(8,HIGH);

digitalWrite(9,LOW);digitalWrite(10,LOW);digitalWrite(11,HIGH);delay(25);digitalWrite(8,HIGH);

digitalWrite(9,HIGH);digitalWrite(10,HIGH);digitalWrite(11,HIGH);

i=0;

}

if(i == 'x' ){

digitalWrite(8,LOW);digitalWrite(9,HIGH);

digitalWrite(10,LOW);digitalWrite(11,HIGH);delay(1000);digitalWrite(8,LOW);digitalWrite(9,HIGH);digitalWrite(10,HIGH);digitalWrite(11,LOW);

delay(800);digitalWrite(8,LOW);digitalWrite(9,HIGH);digitalWrite(10,LOW);

digitalWrite(11,HIGH);delay(1500);digitalWrite(8,HIGH);


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digitalWrite(9,LOW);digitalWrite(10,LOW);digitalWrite(11,HIGH);

delay(800);

digitalWrite(8,LOW);digitalWrite(9,HIGH);digitalWrite(10,LOW);digitalWrite(11,HIGH);

delay(2000);digitalWrite(8,HIGH);

digitalWrite(9,LOW);digitalWrite(10,LOW);digitalWrite(11,HIGH);

delay(800);digitalWrite(8,LOW);digitalWrite(9,HIGH);digitalWrite(10,LOW);digitalWrite(11,HIGH);

delay(1500);digitalWrite(8,LOW);

digitalWrite(9,HIGH);digitalWrite(10,HIGH);digitalWrite(11,LOW);

delay(800);digitalWrite(8,LOW);digitalWrite(9,HIGH);digitalWrite(10,LOW);digitalWrite(11,HIGH);i=0;

}

}


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Software:-

MATLAB:-

MATLAB is a high-level technical computing language and interactive environment for

algorithm development, data visualization, data analysis, and numerical computation. Using

MATLAB, you can solve technical computing problems faster than with traditional

programming languages, such as C, C++.

Here we have use matlab for image signal processing that is image of the object present in

the path of robot is taken by the camera. And after taking image we have calculate the

maximum distance of the robot from the object by making GUI. By selecting particular

coordinates we can move the robot in the left or in the right direction as the object is placed

in the path of the robot.

Here we are working in two mode one is manual and another one is automatic. In manual

System we have put the switches to perform specific task. By pressing switch we have to

perform function as we wants. In automatic mode the whole system automatically works

without taking any instruction.

Here we have use to matlab version 2008.


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For taking image we have used 3 toolboxes from matlab.

For camera interfacing -> Image acquisition box

For image processing :-> Image processing box

For hardware interfacing : -> instrument tool box.

Ardunio:-

Ardunio Software used for to program is and you can use any version of it to make a

program for this device. You can download it from the given below link.

http//www.ardunio.com

Bootloader:-

Bootloader is used to flash the program in the controller memory. By using Ardunio

software we can flash the program on the microcontroller through pc with the help of serial

cable which is connected to DB9 connector both side. Or we can connect the board with the

pc or laptop by using serial to USB converter. BY this software we can load hex file in the

controller.


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3.4 Component List

Sr.

Number

Component Name Component Description Numberof

Quantity

Cost

(rupees)

1 Webcam HCL webcam 1 450

2 Voltage regulator 7805 IC 1 10

3 Diode IN4007 1 1

4 LED 3mm(1.5V & 20mA) 7 1

5 Electrolytic Capacitors 1000F,10 F,1 F,100nf 1,4,3,1 5,3,0.5

6 Ceramic Capacitors 22pf 2 1

7 Multilayer Capacitor .1 F 10 1

8 Resister 220 ,10K,1k 2,3,3 0.5

9 Reset Switch 4 Pin 1 3

10 Crystal 16 MHZ 1 8

11 Max232 IC 16 Pin(IC3) 1 20

12 L293D IC 16 Pin(IC2) 1 40

13 (Arudino-Atmega8) IC 28 Pin (IC) 1 90

14 Female Connector Db9 1 20

15 XBEE Module Pair 1 2000

16 Male & Female Bug Stick Long Strips of Both - 5

17 PCB -100 - 100

18 Motor 2 -

20 Connecting Wires


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3.5Flowchart:-


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4.Conclusion and Future scope

The project has been tested and is running without any errors. Now provided in the giventime frame our group has managed to accomplish the objective of this project but there isalways some scope of advancements. In this project there can be some more technologieswhich can be added which are listed as below.

Use of multiple sensors- By using sensors like proximity detectors or ultrasonic sensors therobot can calculate exact distances which can provide precision measurements forcontrolling the device.

Use of Smartphone/Tablet apps- In todays world everyone manages to own a smart-phoneor a tablet which normally uses leading operating systems as Android, IOS or any otheropen-gl OS.So in this project instead of using a GUI designed in MATLAB environment, an applicationfrom respective OS mentioned above can be used for operating the robot.

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