MINIreport SSB

Security Surveillance Robot 2023-24
CHAPTER 1
INTRODUCTION
1.1 Overview
Security is a fundamental concern in various aspects of life, from personal residences to

public and commercial spaces. Traditional surveillance systems, while useful, often suffer
from limitations such as fixed camera positions, high costs, and lack of real-time control.
To address these challenges, this project aims to develop a mobile security surveillance bot
equipped with an ESP32-CAM for real-time video streaming and controlled by Arduinos
for movement and pan-tilt functionality. The system will be operated via a user-friendly
mobile app and stream video directly to a laptop for real-time monitoring. This innovative
approach combines affordability, flexibility, and ease of use, making it a suitable solution
for a wide range of surveillance needs.
1.2 Problem Statement
Traditional security systems face several challenges:
• Fixed Camera Positions: Conventional surveillance cameras are typically

stationary, their field of view and requiring multiple cameras to cover larger areas.
• High Costs: Professional-grade surveillance systems can be expensive to install and
maintain, making them inaccessible for many small businesses and homeowners.
• Lack of Real-Time Control: Many systems do not offer real-time control or require
complex setups to enable such features.
• Complex Installation and Maintenance: Installing and maintaining traditional
surveillance systems often require professional expertise, adding to the overall cost
and complexity.
• Limited Accessibility: Accessing surveillance feeds remotely can be cumbersome
and may require additional hardware or software configurations.
• Scalability Issues: Expanding traditional surveillance systems to cover larger areas
or additional locations can be costly and complex, often requiring significant
upgrades to existing infrastructure.
This project seeks to address these limitations by developing a mobile, user-friendly, and
cost-effective surveillance solution.
Department of ECE, BTI, Bangalore 1

1.3 Objective
The primary objectives of the security surveillance bot project are:
• Real-Time Video Streaming: Utilize the ESP32-CAM to provide high-quality, real-

time video streaming over Wi-Fi, accessible via a laptop.
• Mobile Control: Develop a mobile app using MIT App Inventor to enable remote
control of the bot's movement and camera pan-tilt functionality.
• Cost-Effective Solution: Design the system using affordable and readily available
components, making it accessible to a wider audience.
• Flexibility and Mobility: Create a mobile surveillance unit that can navigate various
environments, offering greater coverage than fixed cameras.
• Ease of Use: Ensure the system is user-friendly, with intuitive controls and
straightforward setup procedures, reducing the need for professional installation.
• Scalability and Customization: Design the bot to be easily scalable and
customizable, allowing for additional sensors or functionalities to be added based
on specific requirements.
• Reliability and Durability: Build the bot with robust components to ensure it can
operate reliably over periods and withstand different environmental conditions.
1.4 Motivation
• The motivation for this project arises from the increasing need for effective and
adaptable security solutions:
• Rising Security Concerns: The growing incidence of theft, vandalism, and other
security breaches in residential, commercial, and public areas highlights the need
for improved surveillance systems.
• Technological Advancements: Recent advancements in IoT, affordable
microcontrollers, and wireless communication technologies provide new
opportunities for creating innovative security solutions.
• Educational Value: This project offers a valuable learning experience, enhancing
skills in electronics, programming, robotics, and wireless communications.
• Community Benefit: By developing a cost-effective and versatile surveillance bot,
the project aims to make advanced security technology accessible to a broader
audience, contributing to overall safety and security.

• Innovation: The project fosters innovation by exploring new ways to integrate and
utilize existing technologies to solve real-world problems.
1.5Application
The security surveillance bot has a wide range of applications, including but not limited to:
• Home Security: The bot can patrol residential properties, providing real-time
surveillance to detect and deter intruders. Homeowners can remotely monitor their
property and receive alerts in case of suspicious activities.
• Commercial Surveillance: Businesses can use the bot to monitor offices,
warehouses, and retail spaces, ensuring the safety of assets and employees. The
mobility of the bot allows for flexible surveillance that can adapt to changing
layouts and security needs.
• Public Safety: The bot can enhance security in public places such as parks, schools,
and transportation hubs, providing real-time monitoring to prevent incidents and
respond quickly to emergencies.
• Event Monitoring: During public events, concerts, and gatherings, the bot can be
used to monitor crowds and identify potential security threats, ensuring the safety
of attendees.
• Industrial Surveillance: In industrial settings, the bot can monitor facilities for
safety compliance, detect unauthorized access, and provide real-time data to
security personnel.
• Remote Locations: The bot can be deployed in remote or hard-to-reach areas where
traditional surveillance systems may be impractical, providing valuable monitoring
capabilities in diverse environments.

CHAPTER 2
LITERATURE SURVEY
Kennedy Okokpujie, Imhade P. Okokpujie, Fortune T. Young, and Roselyn E.

Subair [1] On August 24, 2023, a research paper titled “Development of an Affordable
Real-Time IoT-Based Surveillance System Using ESP32 and TWILIO API” was authored
by Kennedy Okokpujie, Imhade P. Okokpujie, Fortune T. Young, and Roselyn E. Subair.
The authors were affiliated with the department of Department of Electrical and
Information Engineering, Covenant University, Ota 112101, Ogun State, Nigeria Africa
Centre of Excellence for Innovative & Transformative STEM Education, Lagos State
University, Ota 102101, Lagos State, Nigeria (1st author), Department of Mechanical and
Mechatronics Engineering, Afe Babalola University, Ado Ekiti 360001, Nigeria(2nd
author), Department of Mechanical and Industrial Engineering Technology, University of
Johannesburg, Johannesburg 2028, South Africa (3rd author), University Librarian, Afe
Babalola University, Ado-Ekiti 360001, Nigeria (4th author).
In a global context focused on security challenges, robust surveillance systems are

crucial, especially in areas affected by crime. However, the high cost of video surveillance
technology remains a significant barrier, particularly in low-income regions like African
cities where implementation is minimal.
This study introduces a cost-effective, real-time surveillance system using the

ESP32 microcontroller, OV2640 camera, and PIR sensor, leveraging IoT technology. The
system detects motion, alerts users via SMS for intrusions, and transmits real-time video
using the TWILIO API for global communication. Testing showed the system accurately
streams video on the Ismart platform and operates at less than 50% of the cost of existing
systems, making it suitable for various applications including homes, banks, offices, and
airports.
Pokala Satya Sai Kiran, Guided by Koushik Barman [2], On 7 July 2022, a
research paper Titled “Bluetooth Controlled Robot Car Using Arduino” was authored by
Pokala Satya Sai Kiran, Guided by Koushik Barman. The author was affiliated with the
Department of Electronics and Communication Engineering, Lovely Professional
University, Punjab, India.

This paper proposes the development of remote-controlled robotic cars using
advancements in Bluetooth technology. It employs a simple architecture designed with
open-source hardware to control the car via Bluetooth. An Android application on a
smartphone sends commands to an Arduino microcontroller, which directs the car's
movement. Bluetooth serves as the primary communication link between the smartphone
and the car's controllers, demonstrating its practicality for remote control applications.
JungHyun Byun, SeungHo Chae, and TackDon Han [3] On 1 January 2019, a
research paper Titled “Accurate control of a pan-tilt system based on parameterization of
rotational motion” was authored by JungHyun Byun, SeungHo Chae, and TackDon Han.
The author were affiliated with the Media System Lab, Department of Computer Science,
Yonsei University, Republic of Korea (all authors).
This paper proposes an accurate control mechanism for user-assembled pan-tilt

camera systems. It models pan-tilt rotations as motion along great circle trajectories and
calibrates model parameters, such as positions and vectors of rotation axes, in 3D space.
This allows for accurate servo control of pan-tilt rotations using pose estimation from
inverse kinematics. Comparative experiments show that the proposed method outperforms
others in accurately localizing target points in world coordinates after rotation from
captured camera frames.

CHAPTER 3
SYSTEM ANALYSIS
The security surveillance robot system integrates multiple components to achieve a

cohesive and functional surveillance solution. The core of the system revolves around the
ESP32-CAM module, which provides real-time video streaming capabilities. This module
is interfaced with two Arduino boards, each tasked with specific functions. One Arduino
controls the motor mechanisms, enabling the robot's mobility, while the other manages the
pan-tilt assembly, allowing for dynamic camera orientation.
3.1 Existing System
The current security systems predominantly rely on Closed-Circuit Television

(CCTV) setups. CCTV systems consist of video cameras and monitors that are used to
monitor and record activities within a specific area. These systems are fixed in place and
can only cover the areas within their field of view. While rotatable and PTZ (Pan-Tilt-
Zoom) cameras can increase coverage, they remain limited to their mounted locations.
CCTV systems are primarily reactive, used to review footage after an incident has occurred,
and require constant human monitoring to detect incidents in real-time.
Moreover, CCTV installations demand extensive wiring and infrastructure for

power and video transmission, making them expensive and time-consuming to install and
maintain. The limitations of fixed coverage, the need for continuous human oversight, and
the high cost of setup and maintenance highlight significant drawbacks of the existing
system. These shortcomings present opportunities for innovative solutions, such as the
proposed security surveillance robot, to offer enhanced flexibility, real-time
responsiveness, and cost-effective deployment.
CCTV systems, or Closed-Circuit Television, represent the cornerstone of current

security surveillance, comprising various essential components such as cameras, recording
devices, monitors, and extensive wiring. These systems utilize different types of cameras,
including analog, digital, and IP (Internet Protocol) cameras, each offering varied
capabilities in terms of resolution, image quality, and data transmission. Despite their
essential role in security, CCTV systems have notable limitations and challenges.

3.1.1 Disadvantages of Existing System
1. Fixed Coverage: Limited to the camera’s specific field of view.
2. Reactive Nature: Primarily used for post-incident review, not real-time
prevention.
3. Dependence on Human Monitoring: Requires constant attention to detect
incidents.
4. High Installation Costs: Expensive and complex wiring and setup.
5. Ongoing Maintenance: Regular checks and repairs are needed, adding costs.
6. Scalability Issues: Expanding or upgrading requires additional infrastructure.
7. Vulnerability to Tampering: Equipment can be prone to vandalism.
8. Privacy Concerns: Risks of infringing on individual privacy rights.
9. Limited Flexibility: Fixed positions make it hard to adapt to changing needs.
10. Power Dependency: Requires a constant power supply to operate.
11. Limited Data Integration: Often lacks seamless integration with other security
systems.
12. Image Quality: Older systems may provide lower resolution images.
13. Bandwidth Constraints: High-resolution cameras can strain network bandwidth.
14. Environmental Impact: Cameras and equipment are susceptible to weather
conditions.
15. Complex Configuration: Setting up and configuring systems can be technically
challenging.

3.2 Proposed System
The proposed security surveillance robot aims to address the limitations of
traditional CCTV systems by integrating advanced features and functionalities. The system
incorporates an ESP32-CAM module for real-time video streaming, offering enhanced
flexibility and coverage compared to fixed CCTV cameras. The robot is equipped with two
Arduino boards: one for motor control, allowing the robot to navigate and cover various
areas, and another for managing the pan-tilt assembly, enabling dynamic camera
positioning.
The robot’s mobility provides significant advantages over static CCTV systems, as
it can traverse different environments and adapt its surveillance focus based on real-time
needs. This mobility eliminates blind spots and offers comprehensive coverage of dynamic
areas. The pan-tilt functionality further enhances its capability to monitor a wide range of
angles and adjust the camera’s direction as required.
Real-time monitoring and control are facilitated through a mobile application
developed with MIT App Inventor. This allows users to operate the robot remotely, view
live video feeds, and make adjustments to the camera’s orientation and movement. The
system’s wireless capabilities reduce the need for extensive wiring and infrastructure,
making installation simpler and more cost-effective compared to traditional CCTV setups.
Power is managed with two batteries, ensuring that the robot can operate
autonomously for extended periods without the need for constant power supply. This
flexibility allows for easier deployment in various locations and reduces the constraints of
traditional wired systems.
In terms of scalability, the robot’s modular design allows for easy upgrades and
additions of new features or components. The system can be expanded or adapted based on
evolving surveillance needs without the extensive infrastructure modifications required for
traditional CCTV systems.
The proposed security surveillance robot addresses several key issues associated with
existing CCTV systems:
• Enhanced Coverage: The robot’s mobility and pan-tilt capabilities provide greater
flexibility and eliminate fixed camera limitations.
• Real-Time Monitoring: Immediate response to incidents is possible through live
video streaming and remote control.
• Cost-Effective Installation: Wireless operation reduces the need for extensive
cabling and infrastructure.

• Scalability: Modular design allows for easy upgrades and expansions.
• Adaptability: The robot can navigate various environments and adjust surveillance
focus dynamically.
Overall, the proposed security surveillance robot offers a modern, adaptable, and
efficient alternative to traditional CCTV systems, addressing their limitations while
providing advanced features for enhanced security monitoring.

CHAPTER 4
METHODOLOGY
4.1 Objective
The primary objective of the security surveillance robot project is to develop an
advanced, flexible, and efficient surveillance solution that addresses the limitations
inherent in traditional CCTV systems. The detailed objectives are:
1. Enhanced Coverage and Flexibility:
• Mobility: Design and implement a robot that can navigate various
environments, providing dynamic surveillance coverage beyond fixed camera
positions. This mobility enables the robot to adapt to different monitoring needs
and cover areas that traditional CCTV cameras cannot.
• Pan-Tilt Functionality: Integrate a pan-tilt assembly to allow the camera to
adjust its angle, providing a broader field of view and the ability to focus on
specific areas of interest dynamically.
2. Real-Time Video Streaming and Remote Control:
• Live Video Feed: Implement the ESP32-CAM module to provide high-quality,
real-time video streaming, allowing users to monitor the area continuously.
• Remote Operation: Develop a mobile application using MIT App Inventor to
enable users to control the robot remotely. This includes navigating the robot,
adjusting the camera’s orientation, and viewing live video feeds from a mobile
device.
3. Cost-Effective and Simplified Deployment:
• Wireless Operation: Utilize wireless communication and battery power to
eliminate the need for extensive wiring and infrastructure. This simplifies
installation and reduces overall deployment costs compared to traditional CCTV
systems.
• Modular Design: Create a modular system that allows for easy assembly and
disassembly, facilitating cost-effective upgrades and maintenance.
4. Scalability and Adaptability:
• Modular Architecture: Design the robot with a modular architecture to support
future enhancements, such as adding new sensors or improving camera
technology. This flexibility ensures that the system can adapt to evolving
security needs without significant rework.

• Integration Capabilities: Ensure that the robot can be integrated with other
security systems and technologies, enhancing its functionality and compatibility
with existing security infrastructure.
5. User-Friendly Interface and Accessibility:
• Intuitive Control: Develop an intuitive mobile application interface that makes
it easy for users to operate the robot, regardless of their technical expertise. The
app should provide clear controls for movement, camera adjustments, and video
streaming.
• Accessibility: Ensure that the system is accessible to a broad range of users,
including those with varying levels of technical knowledge. Provide
comprehensive documentation and user support to facilitate smooth operation.
6. Performance and Reliability:
• Robust Performance: Design the robot to perform reliably under various
conditions, including different lighting and environmental scenarios. The
system should maintain high video quality and accurate control even in
challenging conditions.
• Durability: Build the robot with durable components to withstand physical
wear and environmental factors, ensuring long-term operational stability.
By achieving these detailed objectives, the security surveillance robot aims to
provide a modern, adaptable, and efficient alternative to traditional CCTV systems,
addressing their limitations and offering advanced capabilities for enhanced security
monitoring.

4.2 Methodology
4.2.1 Design and Planning
i. Requirement Analysis
• The initial phase involves a thorough analysis of the project requirements. This
includes identifying the necessary features such as real-time video streaming,
remote operation, and the ability to cover various areas. Environmental
conditions and performance expectations are considered to ensure the robot
meets all intended functionalities.
ii. Component Selection
• ESP32-CAM: Selected for its capability to provide real-time video streaming

and wireless connectivity, crucial for remote monitoring.
• Arduino Boards: Two Arduino boards are chosen; one for motor control and
another for managing the pan-tilt mechanism. This choice supports precise
movement and camera positioning.
• Pan-Tilt Assembly: Integrated to enable dynamic camera adjustments, offering

a broader field of view and enhanced surveillance capability.
• Bluetooth Module: Utilized for wireless communication between the robot and
the mobile application.
• Batteries: Selected for their ability to provide adequate power to all

components, ensuring extended operational time without frequent recharging.
iii. System Design
• Hardware Layout: Detailed planning of the hardware layout includes the

arrangement and mounting of components on the robot chassis. Each
component’s position is optimized for functionality and accessibility.
• Circuit Design: Development of a circuit diagram to illustrate the connections

for power distribution, data transmission, and control signals. This ensures a
clear understanding of the electrical setup.

4.2.2 Development and Assembly

i. Hardware Assembly
• Mechanical Assembly: Physical assembly of the robot includes mounting the

ESP32-CAM, Arduino boards, and pan-tilt assembly on the chassis. The
assembly process ensures that all components are securely attached and
properly aligned.
• Electrical Connections: Wiring is done according to the circuit diagram,

connecting the components for power and data transmission. Care is taken to
ensure all connections are reliable and secure.
ii. Circuit Design and Implementation
• Power Management: Setup of a power management system to ensure that all

components receive the appropriate voltage and current. This involves
connecting batteries and managing power distribution effectively.
• Connectivity: Implementation of the connectivity setup between the ESP32-

CAM, Arduino boards, and Bluetooth module. This ensures seamless data
transfer and control communication.
4.2.3 Programming and Software Development

i. Arduino Programming
• Motor Control Code: Development of code for controlling the robot’s

movement, including forward, backward, left, and right functions. The code is
uploaded to the Arduino responsible for motor control.
• Pan-Tilt Control Code: Programming of the second Arduino to manage the

pan-tilt assembly. This code enables the adjustment of the camera’s angle and
position based on user input.
ii. ESP32-CAM Configuration
• Video Streaming Setup: Configuration of the ESP32-CAM for live video

streaming, including network settings, video resolution, and streaming
protocols. This ensures high-quality video transmission.

• Error Handling: Implementation of error-handling mechanisms to manage

connectivity issues or camera malfunctions, ensuring reliable operation.
iii. Mobile Application Development
• MIT App Inventor: Development of a mobile application using MIT App

Inventor, designed to provide an intuitive interface for controlling the robot and
viewing live video feeds.
• Control Features: Creation of functionalities for movement control, camera

adjustments, and live video streaming. Testing and debugging are performed to
ensure all features operate as intended.
4.2.4 Testing and Calibration

i. Initial Testing
• Component Functionality: Individual testing of components to verify their

operation. This includes ensuring the motors function correctly, the camera
streams video reliably, and the Bluetooth communication is effective.
• System Integration: Testing of the integrated system to ensure that all

components work together seamlessly. This involves checking the interaction
between the Arduino boards, ESP32-CAM, and mobile application.
ii. Calibration
• Movement Calibration: Fine-tuning of motor control parameters to achieve

accurate and smooth movement of the robot.
• Camera Calibration: Adjustment of the pan-tilt assembly to ensure optimal

camera angles and coverage. This ensures the robot can monitor the desired
areas effectively.
iii. Performance Testing
• Field Testing: Deployment of the robot in various environments to assess its

performance. This includes evaluating its movement capabilities, camera
positioning, and video quality in real-world conditions.

• User Feedback: Collection of feedback from users to identify any usability

issues or areas for improvement. Adjustments are made based on this feedback
to enhance overall performance.
4.2.5 Deployment and Evaluation

i. Deployment
• Installation: Placement of the robot in its designated operational environment,

ensuring it is positioned for optimal coverage and functionality.
• Initial Setup: Final configuration and calibration are performed to prepare the robot
for use, ensuring it meets all operational requirements.
ii. Evaluation
• Performance Assessment: Continuous monitoring of the robot’s performance to

ensure it meets the project objectives. .
• Adjustments: Making necessary adjustments based on performance data and user

feedback to improve the system’s functionality and effectiveness.
4.2.6 Documentation and Reporting

i. Documentation
• Technical Documentation: Creation of detailed documentation covering design,

assembly, programming, and operation.
• Maintenance Manual: Development of a manual outlining maintenance

procedures and troubleshooting tips to support ongoing operation.
ii. Reporting
• Final Report: Compilation of a comprehensive report summarizing the project’s

objectives, methodology, results, and lessons learned. The report highlights key
achievements and suggests areas for future improvement.
This methodology provides a structured approach to developing, implementing, and

evaluating the security surveillance robot, ensuring all aspects of the project are addressed
systematically.

CHAPTER 05
REQUIREMENT AND SPECIFICATION
5.1 Hardware and Software Requirement

The security surveillance robot requires an ESP32-CAM for real-time video
streaming, two Arduino boards for controlling movement and camera positioning, a pan-
tilt assembly for dynamic camera adjustments, a Bluetooth module for wireless
communication, and batteries to power the system. Software requirements include the
Arduino IDE for programming the Arduinos, a configuration tool for the ESP32-CAM to
manage video streaming settings, and MIT App Inventor for developing the mobile
application that enables remote control and live video monitoring.
5.1.1 Hardware Requirement
The security surveillance robot needs hardware components such as Arduino
boards, a pan-tilt assembly, a Bluetooth module, and batteries.
1. ESP32-CAM:
• Function: The ESP32-CAM is a compact module that integrates both a camera

and a Wi-Fi chip, enabling real-time video capture and wireless transmission.
Following are the specifications:
• The fig. 5.1 shown is the ESP32-Cam module
Fig. 3.1 ESP 32-CAM

o Camera Sensor: Features a 2MP OV2640 camera module that supports

resolutions up to 1600x1200 pixels, ideal for live video streaming.
o Processor: Built on the ESP32 chip, which includes a dual-core processor

capable of handling complex tasks, including video encoding and network
communication.
o Connectivity: Wi-Fi module supports IEEE 802.11 b/g/n standards, providing

robust wireless communication for streaming video and sending data.
o Power Supply: Operates on 3.3V DC, and it typically draws between 150mA
to 250mA during active video streaming. A stable power supply is crucial for
reliable operation.
o MicroSD Card Slot: Supports up to 16GB microSD cards for local storage of
video footage or snapshots, allowing for onboard recording in addition to
streaming.
2. Arduino Boards (Two Units):
• Function: Arduino boards act as the central control units, managing the various
hardware components of the robot. Following are the Specifications:
• The fig. 5.1 shown is the Arduino UNO microcontroller.
Fig. 3.2 Arduino UNO Microcontroller

o Arduino Uno (or equivalent): Utilizes the ATmega328P microcontroller with

14 digital I/O pins, 6 analog inputs, and a 16MHz clock speed.
o Memory: 32KB of flash memory for storing code, 2KB of SRAM for variable
storage, and 1KB of EEPROM for non-volatile data storage.
o PWM Outputs: 6 PWM outputs for motor speed control and servo positioning,
essential for fine-tuning movement and camera angles.
o Power Supply: Typically powered by a 5V USB connection or an external

power supply of 7-12V, which is regulated to 5V internally.
3. Pan-Tilt Assembly:
• Function: The pan-tilt assembly provides mechanical movement capabilities

for the camera, allowing it to adjust its angle both horizontally and vertically.
Following are the Specifications:
• The fig. 5.3 shown is the Pan-tilt assembly
Fig. 3.3 Pan-Tilt assembly
o Servos: Includes two servos usually with 180-degree rotation for pan and tilt.
Servos like the SG90 or MG996R are common choices, offering precise control
and sufficient torque.

o Number of Pan-Tilt Assembly used is 1
o Mounting: Designed with a robust frame to securely hold the ESP32-CAM,

ensuring stable camera positioning. The assembly is often made from
lightweight materials like plastic or aluminium.
4. Bluetooth Module:
• Function: Enables wireless communication between the robot and the mobile
application, allowing for remote control and data exchange. Following are the
Specifications:
• The Fig 5.4 shown is the Bluetooth Module HC-05
Fig 3.4 Bluetooth Module HC-05
o Bluetooth Standard: Typically uses Bluetooth Classic (HC-05) for standard

communication or Bluetooth Low Energy (BLE) for more power-efficient
operation.
o Connectivity: Connects to the Arduino via UART serial communication

(TX/RX pins), facilitating bidirectional data transfer.
o Power: Operates at 3.3V or 5V, depending on the module. Ensures

compatibility with the Arduino’s voltage levels and provides a stable
connection.

o Number of Bluetooth Modules used is 1.
5. Batteries:
• Function: Provide the necessary electrical power for all components of the
robot. Following are the Specifications:
• The Fig. 5.5 shown is the 12V 2200mAh Li-po battery
Fig. 3.5 12V 2200mAh Li-po battery
o Type: Lithium Polymer (LiPo) batteries are commonly used due to their high
energy density and light weight. Alternatively, Nickel-Metal Hydride (NiMH)
batteries can be used for their durability and reliability.
o Voltage: For LiPo batteries, a common configuration is 7.4V (2S) or 11.1V

(3S), which must be regulated down to 5V for Arduino and 3.3V for ESP32-
CAM.
o Capacity: Typically ranges from 1000mAh to 3000mAh, depending on the

desired operational time. Higher capacity batteries provide longer run times but
may add weight.
o Battery Management: Includes a Battery Management System (BMS) or a

voltage regulator to ensure safe charging, protect against over-discharge, and
maintain stable voltage levels.
6. Motor Driver Module (L298N):

• Function: The L298N is a dual H-bridge motor driver module used to control
the direction and speed of DC motors or stepper motors. It allows for

• bidirectional control of motors, making it essential for driving the wheels of the
security surveillance robot. Following are the Specifications:
• The fig. 5.6 shown is the L298N Motor Driver
Fig. 3.6 L298N Motor Driver

o Channels: The L298N can control two DC motors independently, or one
stepper motor with bi-directional control.
o Voltage Range: Operates with a supply voltage of 5V to 35V, accommodating
a wide range of motors. The module includes onboard voltage regulators to
provide 5V output for powering other components.
o Current Capacity: Each channel can handle up to 2A continuous current, with
peak currents up to 3A, making it suitable for medium to high-power motors.
o Control Inputs: Receives control signals from the Arduino via input pins (IN1,
IN2 for motor A and IN3, IN4 for motor B) to set the direction and speed. PWM
signals are used to control motor speed.
o Protection Features: Includes thermal shutdown and overload protection to
prevent damage to the module and connected motors during excessive current
or overheating.
o Connections: Features easy-to-use terminal blocks for motor connections and
a separate connector for power supply, simplifying wiring and integration with
the robot's control system.
o Number of Motor Drivers used is 3

7. Additional Components:
• Connectors and Wiring: Includes various connectors, jumper wires, and

possibly a soldering kit for establishing secure connections between
components. Ensures that all electrical connections are robust and reliable.
Fig. 3.7 Male-Female jumper wires
Fig. 3.8 Male-Male Jumper Wires
Fig. 3.9 Female-Female jumper wires

5.1.2 Software Requirement

1. Arduino IDE:
• Function: The Arduino Integrated Development Environment (IDE) is used
for writing, compiling, and uploading code to the Arduino boards. It
provides a user-friendly platform for programming the microcontrollers.
• Code Editor: Offers a simple and intuitive text editor with syntax
highlighting, auto-completion, and code folding, making it easy to write and
edit code.
• Library Manager: Allows easy integration of various libraries that extend
the functionality of the Arduino boards, such as motor control libraries,
sensor libraries, and communication protocols.
• Serial Monitor: A built-in tool for debugging, enabling communication
with the Arduino boards via serial communication to monitor outputs, send
inputs, and debug code in real-time.
• Cross-Platform: Available for Windows, macOS, and Linux, ensuring
compatibility with different operating systems.
2. MIT App Inventor:
• Function: MIT App Inventor is a visual programming environment used to

develop the mobile application for controlling the robot and monitoring
video streams. It simplifies app development through a block-based
interface.
• Drag-and-Drop Interface: Enables easy creation of the mobile app

interface and functionality by dragging and dropping visual components and
logic blocks.
• Bluetooth Communication: Provides built-in components and blocks for

establishing Bluetooth communication between the mobile app and the
robot, facilitating remote control and data exchange.
• User Interface Components: Includes various UI elements such as buttons,

sliders, and text labels to create an intuitive and user-friendly mobile
application.

CHAPTER 6
IMPLEMENTATION
6.1 Working Principle

The security surveillance robot operates by integrating various hardware and
software components to achieve real-time video monitoring, remote control, and
autonomous navigation. Here is a detailed explanation of the working principle:
1. Video Streaming and Surveillance:
• ESP32-CAM: The ESP32-CAM module captures live video using its built-in
camera. The captured video is processed by the ESP32's onboard processor and
transmitted over Wi-Fi to a remote device, such as a laptop or a mobile
application.
• Wi-Fi Connectivity: The ESP32-CAM connects to a local Wi-Fi network,
enabling it to stream video data to the specified IP address. This allows for real-
time monitoring from any device connected to the same network.
• Mobile Application: Developed using MIT App Inventor, the mobile app
receives the video stream from the ESP32-CAM and displays it to the user. The
app provides a user-friendly interface for viewing live footage and controlling
the robot.
2. Remote Control:
• Bluetooth Module: The mobile application communicates with the robot via
Bluetooth (HC-05). Commands for movement, pan-tilt adjustments, and other
controls are sent from the app to the Arduino boards using Bluetooth
communication.
• Arduino Boards: The Arduinos receive control signals from the Bluetooth
module. One Arduino is dedicated to controlling the motor driver and managing
the movement of the robot, while the other controls the pan-tilt assembly for the
camera.
3. Movement Control:
• Motor Driver (L298N): The L298N motor driver module receives commands
from the Arduino and drives the DC motors that move the robot. It allows for
forward, backward, and rotational movements by controlling the direction and
speed of each motor.

• DC Motors: These motors, connected to the wheels of the robot, provide the
necessary propulsion for navigation. The precise control of motor speed and
direction enables the robot to move smoothly and accurately.
4. Camera Pan-Tilt Control:
• Pan-Tilt Assembly: Equipped with two servos, the pan-tilt assembly allows the
camera to rotate horizontally (pan) and vertically (tilt). The Arduino controlling
the pan-tilt assembly sends PWM signals to the servos based on user inputs from
the mobile app.
• Servo Motors: The servo motors in the pan-tilt assembly adjust the camera's
position, allowing for a wide range of view angles. This ensures that the camera
can focus on different areas of interest as needed.
5. Power Management:
• Batteries: The robot is powered by batteries that supply the necessary voltage
and current to all components. Voltage regulators ensure that the correct voltage
levels are provided to the ESP32-CAM, Arduino boards, motor driver, and other
peripherals.
• Power Distribution: The power from the batteries is distributed to the various
components through regulated connections, ensuring stable and reliable
operation during extended use.
6. Integration and Coordination:
• Software Coordination: The software components, including the Arduino code
and the mobile application, are designed to work in harmony, ensuring seamless
communication and coordination between the hardware components.
• Real-Time Monitoring and Control: The integration of real-time video
streaming with remote control capabilities allows users to monitor the
environment and control the robot's movements simultaneously, providing an
effective surveillance solution.
This working principle ensures that the security surveillance robot can effectively
monitor its surroundings, transmit live video to a remote device, and be controlled remotely
for navigation and camera adjustments. The integration of hardware and software
components creates a cohesive system that meets the project's surveillance and security
objectives

6.2 Block Diagram
Fig. 3.10 Block Diagram of Security Surveillance Robot
6.3 Communication Flow

6.4 Advantages and Disadvantages

6.4.1 Advantages:
1. Provides immediate monitoring with live video streaming.
2. Allows control from any location within Wi-Fi or Bluetooth range.
3. Covers a large area and reduces blind spots with pan-tilt camera.
4. Moves and navigates through different areas for versatile surveillance.
5. Utilizes affordable, readily available components.
6. Easily integrates additional sensors and features as needed.
7. Lightweight materials make the robot easy to move.
8. Operates for extended periods without frequent recharging.
9. Mobile app offers an intuitive interface for easy control and monitoring.
10. Combines real-time monitoring, remote control, and mobility for better security.
11. Provides hands-on experience with electronics, programming, and robotics.
12. Immediate surveillance allows for faster response to security breaches.
13. Can be relocated and deployed in different areas as needed.
6.4.2 Disadvantages
1. Limited battery life may require frequent recharging or battery changes.

2. Wi-Fi connectivity issues can disrupt video streaming and control.
3. Initial setup and calibration can be time-consuming.
4. Limited range of Bluetooth control.
5. Dependence on mobile app functionality for control.
6. Requires stable Wi-Fi network for optimal performance.
7. Potential latency in video streaming.
8. Components may be sensitive to environmental conditions.

CHAPTER 7
FUTURE ENHANCEMENT
7.1 Enhancements
1. Integration of LoRa Technology:
• Long-Range Communication: Implementing LoRa (Long Range) technology
can significantly extend the communication range of the robot. This is
particularly useful in large areas or remote locations where traditional Wi-Fi or
Bluetooth signals may not reach.
• Low Power Consumption: LoRa is known for its low power usage, which can
help in conserving battery life and ensuring longer operational periods for the
surveillance robot.
• Enhanced Network: Using LoRa can allow for the creation of a more robust
network where multiple devices can communicate over long distances,
enhancing the overall surveillance coverage.
2. Two-Way Audio Communication:
• Microphone and Speaker Integration: Adding a microphone and speaker will
enable two-way audio communication, allowing operators to interact with
individuals near the robot or provide instructions in real-time.
• Remote Audio Surveillance: The robot can pick up and transmit audio from its
surroundings, providing additional context and situational awareness during
surveillance.
3. High-Resolution Camera:
• Improved Image Quality: Upgrading to a high-resolution camera will result in
clearer and more detailed video streams, enhancing the ability to identify
individuals and monitor areas more effectively.
• Night Vision Capability: Incorporating infrared sensors or a night vision camera
can improve surveillance capabilities in low-light or nighttime conditions.
4. Lighting System:
• LED Lights: Adding LED lights can enhance visibility in dark areas, providing
better illumination for the camera and ensuring clearer video footage.

• Controllable Lighting: Implementing a controllable lighting system that can be
adjusted remotely will allow the operator to control the intensity and direction
of the light based on the surveillance needs.
5. Advanced Motion Detection:
• Enhanced Sensors: Using advanced motion detection sensors can improve the
robot's ability to detect movement and trigger alerts, ensuring timely responses
to potential security breaches.
6. AI-Based Recognition:
• Integrating AI algorithms for more sophisticated motion detection and object
recognition, enabling the system to differentiate between humans, animals, and
other objects.
7. Autonomous Navigation:
• Path Planning: Implementing algorithms for autonomous navigation and path
planning will allow the robot to patrol predefined routes or respond to detected
motion autonomously.
• Obstacle Avoidance: Incorporating sensors and AI for real-time obstacle
detection and avoidance will enhance the robot's ability to navigate complex
environments without human intervention.
8. Enhanced Power Management:
• Solar Panels: Adding solar panels can provide an additional power source,
extending the operational time of the robot, especially for outdoor surveillance.
• Battery Management System: Implementing an advanced battery management
system to monitor and optimize power usage, ensuring efficient energy
consumption and prolonged battery life.
9. Environmental Sensors:
• Temperature and Humidity Sensors: Adding environmental sensors to monitor
and report on the temperature and humidity levels, providing valuable data for
specific surveillance scenarios.
• Gas and Smoke Detectors: Including gas and smoke detectors for monitoring
hazardous conditions, enhancing the robot's utility in safety and emergency
scenarios.
7.2 Scope

1. Integration with Smart Home Systems:
• Home Automation: Future versions of the robot can integrate with smart home
systems, allowing it to interact with other smart devices like alarms, lights, and
locks for comprehensive home automation.
• Voice Assistants: Compatibility with voice assistants like Alexa or Google
Assistant can provide voice control and additional functionalities.
2. Machine Learning and AI:
• Behavior Analysis: Incorporate machine learning algorithms to analyze
behavior patterns, detect unusual activities, and provide actionable insights
based on historical data.
• Face Recognition: Advanced face recognition technology can be integrated to
identify and authenticate individuals, enhancing security measures.
3. Swarm Robotics:
• Coordinated Surveillance: Deploy multiple robots working in coordination to
cover larger areas and provide a more extensive surveillance network.
• Dynamic Reconfiguration: Implement algorithms for dynamic reconfiguration
of robot positions based on real-time data and changing conditions.
4. Enhanced Connectivity:
• 5G Integration: Utilize 5G technology for ultra-fast data transmission, enabling
real-time high-definition streaming and enhanced communication capabilities.
• Mesh Networks: Develop mesh networking capabilities to ensure reliable
communication between robots and other devices, even in challenging
environments.
5. Advanced Power Solutions:
• Energy Harvesting: Explore energy harvesting techniques, such as kinetic or
thermal energy, to supplement power needs and extend operational time.
• Battery Innovations: Research into new battery technologies, such as solid-state
batteries, for longer life and faster charging.
6. Augmented Reality (AR) Interfaces:
• AR for Monitoring: Integrate AR technology to overlay surveillance data on live
camera feeds, providing real-time information and enhancing situational
awareness for operators.
• Training and Simulation: Use AR for training operators and simulating different
scenarios to improve response strategies and operational efficiency.

7. Robust Security Features:
• Encrypted Communication: Implement end-to-end encryption for all
communications to protect data integrity and prevent unauthorized access.
• Tamper Detection: Add tamper detection features to alert operators if the robot
is being interfered with or manipulated.
8. Environmental Adaptability:
• Weatherproofing: Develop weatherproof designs to enable operation in various
environmental conditions, including rain, dust, and extreme temperatures.
• Terrain Adaptation: Enhance the robot's mobility and adaptability for different
terrains, such as uneven ground or stairs, to expand its operational capabilities.
9. User Experience Enhancements:
• Intuitive Interfaces: Develop more user-friendly interfaces and control systems,
including mobile apps and web dashboards, to simplify operation and
monitoring.
• Customization Options: Provide options for users to customize the robot's
functionalities, appearance, and behavior based on specific needs or
preferences.
10. Regulatory Compliance and Ethics:
• Privacy Considerations: Ensure compliance with privacy regulations and ethical
guidelines to protect individuals' rights and data.
• Safety Standards: Adhere to safety standards and certifications to ensure the
robot's safe operation in various environments.
These future scopes highlight potential advancements and enhancements that can be made
to the security surveillance robot, expanding its capabilities and applicability across
different scenarios and environments.

CHAPTER 8
RESULT
The development and implementation of the security surveillance robot have demonstrated
its effectiveness in various surveillance scenarios. The integration of the ESP32-CAM
module provided real-time video streaming for continuous monitoring, while the pan-tilt
assembly controlled by an Arduino ensured comprehensive coverage with flexible camera
movement.
The motor control system, managed by another Arduino board, enabled smooth and precise
robot movement across different terrains. The mobile application developed with MIT App
Inventor offered an intuitive interface for operators to control and monitor the robot's
actions and camera feed.
The dual battery setup provided sufficient power for extended operation, enhancing the
robot's autonomy and reliability. The plywood construction resulted in a lightweight yet
sturdy structure, facilitating easy modifications and upgrades. The modular design allowed
for seamless integration of additional components and functionalities, paving the way for
future enhancements like LoRa technology, 2-way audio communication, and a high-
resolution camera.
Overall, the robot demonstrated high reliability in surveillance tasks, with consistent
performance in various test scenarios. Positive feedback highlighted the system's ease of
use, effectiveness, and potential for customization. Comprehensive project documentation
has been compiled, providing a clear roadmap for replication, maintenance, and further
development. These results underscore the project's success in creating a functional and
effective security surveillance robot with adaptability for future advancements.

CHAPTER 9
CONCLUSION
The security surveillance robot project successfully achieved its objectives, demonstrating
significant effectiveness in real-time monitoring and flexible control. The integration of the
ESP32-CAM for video streaming and an Arduino-controlled pan-tilt assembly ensured
comprehensive coverage and adaptability. The motor control system enabled smooth
navigation, while the mobile app provided user-friendly operation.
The dual battery setup and lightweight plywood construction contributed to extended
operation and easy modifications. The modular design allows for future enhancements such
as LoRa technology, 2-way audio communication, and a high-resolution camera, ensuring
the robot's continued relevance and improvement.
Overall, the robot has proven to be a reliable and efficient surveillance solution, receiving
positive feedback for its ease of use and effectiveness. The project documentation offers a
clear roadmap for replication and further development. This success underscores the
potential of the security surveillance robot to evolve and meet emerging security needs,
establishing a strong foundation for future advancements.

REFERENCES
1. Development of an Affordable Real-Time IoT-Based Surveillance System
Using ESP32 and TWILIO API | IIETA
2. (PDF) Bluetooth Car Controlled Using Arduino (researchgate.net)
3. Accurate control of a pan-tilt system based on parameterization of
rotational motion | Request PDF (researchgate.net)

APPENDIX – A CODE
// Define pin numbers for L298n Motor Driver
#define in1 5
#define in2 6
#define in3 10
#define in4 11
int angle; // Variable to store tilt angle (0 - 180 degrees)

int angle1; // Variable to store pan angle (0 - 180 degrees)
int command; // Variable to store command from the app
int Speed = 204; // Motor speed (0 - 255)
int Speedsec; // Secondary speed for turns
int buttonState = 0; // Current state of the button
int lastButtonState = 0; // Previous state of the button
int Turnradius = 0; // Radius of a turn (0 - 255), should be less than Speed
int brakeTime = 45; // Time for braking
int brkonoff = 1; // Electronic braking system (1 for on, 0 for off)
void setup() {
Serial.begin(9600); // Initialize serial communication with the Bluetooth module at 9600
baud
}
void loop() {
// Check if there's incoming data from the Bluetooth module
if (Serial.available() > 0) {
command = Serial.read(); // Read the command from the serial buffer
Stop(); // Stop all motors initially
// Process the command and control the robot accordingly

switch (command) {
case 'F':

forward(); // Move forward
break;
case 'B':
back(); // Move backward
break;
case 'L':
left(); // Turn left
break;
case 'R':
right(); // Turn right
break;
case 'G':
forwardleft(); // Move forward and left
break;
case 'I':
forwardright(); // Move forward and right
break;
case 'H':
backleft(); // Move backward and left
break;
case 'J':
backright(); // Move backward and right
break;
case '0':
angle = 0; // Set tilt angle to 0 degrees
break;
case '1':
break;
case '2':
break;
case '3':

break;
case '4':
break;
case '5':
angle1 = 0; // Set pan angle to 0 degrees
break;
case '6':
break;
case '7':
break;
case '8':
break;
case '9':
break;
case 'A':
Speed = 120; // Set speed to 120
break;
case 'E':
break;
case 'T':
break;
case 'Y':
break;
case 'U':

break;
case 'O':
break;
case 'P':
break;
}
Speedsec = Turnradius; // Update Speedsec with Turnradius
if (brkonoff == 1) {
brakeOn(); // Activate braking system if enabled
} else {
brakeOff(); // Disable braking system if not enabled
}
}
}
// Function to move the robot forward
void forward() {
analogWrite(in1, Speed);
}
// Function to move the robot backward
void back() {
}
// Function to turn the robot left
void left() {
}
// Function to turn the robot right

void right() {
}
// Function to move the robot forward and left
void forwardleft() {
analogWrite(in1, Speedsec);
}
// Function to move the robot forward and right
void forwardright() {
}
// Function to move the robot backward and right
void backright() {
}
// Function to move the robot backward and left
void backleft() {
}
// Function to stop all motors
void Stop() {
analogWrite(in1, 0);
}
// Function to activate the electronic braking system
void brakeOn() {

buttonState = command; // Update button state with current command
if (buttonState != lastButtonState) { // Check if button state has changed
if (buttonState == 'S') { // If command is 'S', activate braking
if (lastButtonState != buttonState) {
digitalWrite(in1, HIGH);
delay(brakeTime); // Wait for braking time
Stop(); // Stop all motors
}
}
lastButtonState = buttonState; // Update last button state
}
}
// Function to deactivate the electronic braking system (currently empty)
void brakeOff() {
}

APPENDIX – B SNAPSHOTS

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Security Surveillance Robot 2023-24

Security is a fundamental concern in various aspects of life, from personal residences to

1.2 Problem Statement

Traditional security systems face several challenges:

• Fixed Camera Positions: Conventional surveillance cameras are typically

Department of ECE, BTI, Bangalore 1

The primary objectives of the security surveillance bot project are:

• Real-Time Video Streaming: Utilize the ESP32-CAM to provide high-quality, real-

Department of ECE, BTI, Bangalore 2

Department of ECE, BTI, Bangalore 3

Kennedy Okokpujie, Imhade P. Okokpujie, Fortune T. Young, and Roselyn E.

In a global context focused on security challenges, robust surveillance systems are

This study introduces a cost-effective, real-time surveillance system using the

Department of ECE, BTI, Bangalore 4

This paper proposes an accurate control mechanism for user-assembled pan-tilt

Department of ECE, BTI, Bangalore 5

The security surveillance robot system integrates multiple components to achieve a

3.1 Existing System

The current security systems predominantly rely on Closed-Circuit Television

Moreover, CCTV installations demand extensive wiring and infrastructure for

CCTV systems, or Closed-Circuit Television, represent the cornerstone of current

Department of ECE, BTI, Bangalore 6

Department of ECE, BTI, Bangalore 7

Department of ECE, BTI, Bangalore 8

Department of ECE, BTI, Bangalore 9

Department of ECE, BTI, Bangalore 10

Department of ECE, BTI, Bangalore 11

ii. Component Selection

• ESP32-CAM: Selected for its capability to provide real-time video streaming

• Pan-Tilt Assembly: Integrated to enable dynamic camera adjustments, offering

• Batteries: Selected for their ability to provide adequate power to all

iii. System Design

• Hardware Layout: Detailed planning of the hardware layout includes the

• Circuit Design: Development of a circuit diagram to illustrate the connections

Department of ECE, BTI, Bangalore 12

4.2.2 Development and Assembly

• Mechanical Assembly: Physical assembly of the robot includes mounting the

• Electrical Connections: Wiring is done according to the circuit diagram,

ii. Circuit Design and Implementation

• Power Management: Setup of a power management system to ensure that all

• Connectivity: Implementation of the connectivity setup between the ESP32-

4.2.3 Programming and Software Development

• Motor Control Code: Development of code for controlling the robot’s

• Pan-Tilt Control Code: Programming of the second Arduino to manage the

ii. ESP32-CAM Configuration

• Video Streaming Setup: Configuration of the ESP32-CAM for live video

Department of ECE, BTI, Bangalore 13

• Error Handling: Implementation of error-handling mechanisms to manage

iii. Mobile Application Development

• MIT App Inventor: Development of a mobile application using MIT App

• Control Features: Creation of functionalities for movement control, camera

4.2.4 Testing and Calibration

• Component Functionality: Individual testing of components to verify their

• System Integration: Testing of the integrated system to ensure that all

• Movement Calibration: Fine-tuning of motor control parameters to achieve

• Camera Calibration: Adjustment of the pan-tilt assembly to ensure optimal

iii. Performance Testing

• Field Testing: Deployment of the robot in various environments to assess its

Department of ECE, BTI, Bangalore 14