SnoopyBot Team: Harsh Sharma Donny Yi. Snoopy-Introduction A surveillance tank with web interface and a mounted webcam for live video feed Three different.

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 timesValid 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-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 timesIf 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 routesMultiple routes can be storedRoute 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 motorsShaft-encoders ensure consistent operationMotors driven by HCS12 in conjunction with

H-bridgesCamera 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

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

                                        o

o

8.74

41.375.8

5.6tan

21

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

Web CommandEntered

Store CommandIn MYSQL

database in BS

BS applicationsends commandto Cybiko through

serial port.

BS-Cybikotransmits

command to V-Cybiko

V-Cybiko receivescommand

Command sentserially from V-Cybiko to HC12

HC12 ProcessesCommand

HC12 sends“cprocessed”

acknowledgementto V-Cybiko

V-Cybiko sendsacknowledgement

to BS-Cybiko

BS-Cybiko sendsacknowledgement

to BS serially

BS app markscommand as

processed in DB

BS ready for nextcommand

Snoopy High Level Components

Base Station Old Pentium Pro 200 Runs Debian Linux 3.0C++/Java for base station applicationRuns MYSQL and PHP serverRuns Apache to serve the GUI

Camera CommunicationWireless 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

Initial Page

Route Capture

Manual Mode

Choose RouteManual Mode

Execute

Delete/Add

Route Capture

Done

Execute

Choose Route

Add

Start/Restart/Pause

Done

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

Part Power Consumption Motors 160mW

68HC12 225 mW

US Sensor 200 mW

Camera 900ma * 5v = 4.5 watts

Motion Detector 200 mW

Phototransistor 100 mW

Total: 5.385 W

Snoopy-Cost Estimates

Part Vendor Price $ Quantity Total Price $ Price Paid $

Wireless Cam D-Link 129.99 1 129.99 129.99

HC12 RIT Free 1 0.00 0.00

IR Motion Detector Hobbytron 19.99 1 19.99 19.99

US Distance Sensor Hobbyengineering 35 1 35.00 35

Tankbot Servo Budget Robotics 54.95 1 54.95 0.00

Servo motors RIT Free 2 0.00 0.00

Cybiko Amazon 9.99 2 19.98 19.98

Base Station PC CompUSA 300.00 1 300.00 0.00

Wireless Router CompUSA 60.00 1 60.00 0.00

Batteries Radioshack 10.00 ? 10.00 0.00

IR Emitter & Detector Radioshack 3.29 1 3.29 3.29

Total 624.83 208.25

Snoopy-Timeline

ID Task Name Start Finish DurationDec 2004 Jan 2005

12/5 1/2 1/9 1/16 1/23 1/30

1 1d11/30/200411/30/2004Order All Parts

2 6d12/14/200412/7/2004Prepare Website

3 6d12/21/200412/14/2004GUI

4 14d1/7/200512/21/2004Assembly Code

5 6d1/14/20051/7/2005Integrate Project

6 18d2/8/20051/14/2005Testing

7 1d2/8/20052/8/2005Demo

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?