Pi Based Surveillance/Rescue Bot (Pibot)

Introduction To UGV• An unmanned ground vehicle (UGV) is a vehicle that

operates while in contact with the ground and without an on-board human presence.• UGVs can be used for many applications where it may

be inconvenient, dangerous, or impossible to have a human operator present.• Generally, the vehicle will have a set of sensors to

observe the environment, and will either autonomously make decisions about its behaviour or pass the information to a human operator at a different location who will control the vehicle through teleoperation.

Contd..• Though, when seeing the present trend in market of

robotic appliances UGV’s are not so famous.• But we must know that there are some organizations in

which UGV’s are irreplaceable and used very frequently• One thinks that instead of buying a UGV why not buy a

Quadcopter/Drone with same features but we should know that Quadcopter are a bad choice for indoor operations.• Quadcopter having the same features as that of Pibot

are 3 times more costlier than that of Pibot

Project Overview• The basic idea behind Pibot is to built a robot that can

be reachable in the smallest place possible in order to carry on rescue and surveillance operations which can be controlled from anywhere over the internet.• In addition to all this the Pibot will be totally

customizable so that a normal user can add his/her desired features without any hassle.• The cost of the Pibot will be less than that of the similar

products(which are very few) available in the market.• Pibot will be able to give all the functionalities of the

computer(in other words numerous ) as well as that of the UGV.

Features Of Pibot• Moving easily on rough terrains.• The controlling Platform of the Pibot will be available for

most of the platforms .• The camera would be able to rotate in X as well as in Y axis.• The camera movement can be controlled remotely.• The run time of Pibot would be around 2 to 3 hours

minimum.• Pibot will be having a Geolocation Tracking feature which

will enable us to track it’s location on a map.

Contd..• Pibot will feature a light detection sensor which would automatically

turn on the led installed on the Pibot if it sense’s less light conditions.• Pibot will support audio streaming i.e. we can even send/receive

sound from/to Pibot.• Owing to its small size Pibot will be able to go in small places easily.• There would be a tagging feature on the map i.e. the user will be

able to tag the location which needs further attention (disaster management).• The camera stream from the Pibot will be recorded on the

controlling device.

Contd..• Pibot will be easily customizable by the normal user who can

add any extra sensors/hardware/functionalities very easily.• Pibot will be able to follow any movement autonomously if

the given feature is enabled.• It can also send a message/notification to the user in case

any movement is detected.• Pibot can be synced with other Pibot’s or Raspberry Pi

enabled Quadcopter.• Pibot’s software can be easily updated through Internet so

the Pibot will never be outdated.

Parts Used/Required• Raspberry Pi 2 Model B: The Raspberry Pi

in case of this projects works as a server and as a peripheral such as camera, GPS module controlling device having a processor of 900 MHz and a RAM of 1 GB. Apart from this the Raspberry Pi will be helpful in providing various software based features.

• Arduino Uno: It will be interfaced to the Raspberry Pi through serial communication which would be used for controlling motors and other sensors and leds.

• Camera: This will be used to provide live stream of the Pibot’s position to its controller.

• GPS Receiver: It will be connected to the pi and will be used to track the exact location of the Pibot in terms of latitude and longitude which could be plotted on a map and it can be further used in autonomous navigation.

Contd..• Power Bank: A Power Source of 5v & 10000

Mah used for powering the raspberry pi and the USB Hub.

• Li-ion Rechargeable Battery: A Power Source of 12v &11000 MAH for powering Dc motors only.

• 12v DC Motors: 6 12v dc high torque motors for the movement of the Pibot.

• 4/7 Port Powered USB Hub: As there are multiple USB devices connected to the Pibot this powered USB hub will be required to power up some of these USB devices externally and thus reducing the load on the raspberry pi.

• Two axis tilt and rotate servo pan: This will be used to mount the camera on it hence providing two axis movement to the camera.

Progress Done So Far• Interfaced Raspberry Pi and Arduino Uno and built a

robot that can be controlled over local network/internet.• Developed a desktop based application for controlling

the robot and viewing a live stream from the robot.• Added a camera on the robot.• Added motion detection feature in the robot• Integrated Google Maps API in the desktop based

application for Geo-Location Tracking.

Contd..

Target Customers• Pibot can be useful under various categories such as:• For Various Government Organizations:• These vehicles can benefit the military with the ability to send these robot ahead

of platoons to examine the terrain they are about to enter.• It will allow the soldiers to spot the hidden enemies.• It can used to spot the hidden bombs.• It can be used to defuse any explosive hence avoiding the possibility of a soldier

being killed by manually defusing the explosive.• It can also be used to provide supplies to the solider in combat.• Can be used to seek survivors where it’s not possible for a human to reach in

case of any natural calamities such as earthquakes.• Can tag the position of survivors on a map so they can be rescued as soon as

possible.• It can be used to setup surveillance in those places where it is not possible for a

human being to be there

Contd..• For Other Individuals/Organizations :

• Pibot can be used to survey different part of one’s organization without actually being there.

• It could be used for home security and surveillance.• For the technology loving people it can be one of their gadgets which they

want to use and customizable as it will be the cheapest product in it’s segment.

Pibot Under Large Scale Production• The total cost required to build a prototype will be

approximately Rs.25000/- but keeping in mind that on large scale production all the hardware will be available at a cheaper cost it’s manufacturing cost will be not more than Rs.20000/-.