The project is aimed at creating a simple humanoid for multiple purposes although, mainly concentrating on surveillance. It can move, talk, answer questions and recognize faces. It uses a raspberry pi for its working. Using its camera it can capture pictures and record videos.
ISSN:2249-5789 Lakshmi et al , International Journal of Computer Science & Communication Networks,Vol 5(3),169-172 Home Security Robot Dharani Sethuram Lakshmi N Dept of Information Science and Engineering BMS College of Engineering Bangalore, India dharanisethuram@gmail.com Dept of Information Science and Engineering BMS College of Engineering Bangalore, India laksh.nagappan7@gmail.com Ashvini V Dept of Information Science and Engineering BMS College of Engineering Bangalore, India ashvinivaratharaj@gmail.com Abstract—Humans are the most advanced creatures of the nature It is believed that humanoid robots will be the most advanced creatures of humans Among the man-made creatures such as automobile, hand-phones and multimedia devices, robots of future will hopefully be the most ideal assistants to human beings Robots can live up to this expectation because future intelligent and autonomous robots could free humans from, or ease them up of, repeatedly undertaking physically and mentally challenging routines A humanoid robot is a robot with its body shape built to resemble that of the human body In the present world, safety has become one of the major challenges to be handled Since manual monitoring of a house is not completely efficient, humanoids can be used in their places The robot can act as a surveillance monitoring system which can detect new faces and store it in the database The project is aimed at creating a simple humanoid for multiple purposes although, mainly concentrating on surveillance It can move, talk, answer questions and recognize faces It uses a raspberry pi for its working Using its camera it can capture pictures and record videos Keywords—Autonomous,Raspberry pi, Surveillance, Robbots, Humanoid I INTRODUCTION A robot is a mechanical or virtual artificial agent, usually an electro-mechanical machine that is guided by a computer program or electronic circuitry Man has invented different robots for different purposes Robot are being used in the fields of industry and domestic use Today everyone' home needs at least a simple security system with multiple features with investment as minimal as possible This security robot which has a night-vision-capable wideangle camera detects movements and intruders It can patrol places and capture pictures of suspicious activities, too, and send alerts via email or text message, the stored history of past alerts and pictures are accessible via the Web The robot can also be configured to go into action at any time of the day, guided by a view in front When programmed to the customers need, it can move automatically to a desired place and check who is present there and recognize their faces if stored in the database, following which access to entry can be allowed or denied This robot is built using minimal components, which are effective in carrying out a wide range of basic home security functions The Raspberry Pi which runs on the Raspbian Wheezy operating system acts as a brain to the robot, controlling all the functions done by it The face recognition and motion detection programs help in carrying out the major features of the robot The raspberry pi camera module is small and efficient even dark locations and is mounted on the robot II LITERATURE REVIEW The first robot that was manufactured was a called as “Maschinenmensch” (machine human) which was a gynoid humanoid robot Later in 1942 Isaac Asimov formulated Three Laws of Robotics Moving further in 1948 Norbert Wiener the principles of cybernetics or the basis of practical robots was given These applications were not full-fledged robots It was only in the second half of the 20th century that first digitally operated and programmable robot, Unimate was developed It was designed to lift pieces of metal from a die casting machine and to arrange them accordingly Today these robots are have wide industrial uses in sectors where the case of jobs need to be performed cheaply, accurately and which provides high reliability There are employed in such job scenarios where the environment is not suitable for humans to work on They have been used in manufacturing, assembly, packing, transport , surgery, safety, mass production of goods etc to mention a few These Robots can be of various types depending on the environments in which they are been used but based on a 169 ISSN:2249-5789 Lakshmi et al , International Journal of Computer Science & Communication Networks,Vol 5(3),169-172 survey on their working they share three basic similarities classified on their basis of construction a All robots designed have been personified and been given a mechanical construction, that is a frame or a shape which could suit the task they have been assigned to b Robots have electrical components embedded in them which would power and control the machinery The source of power could be different for each system For the robot we would be designing we would give power supply from USB power pack that is rechargeable c Robots have to be programmed to achieve the main purpose of their creation, for this computer programming code is a prerequisite A program is how a robot decides on what to with least human interference Programs are the core essence of a robot A robot could have excellent construction with respect to aspect [a] and [b] but if [c] is been ignored it could lead to poor execution of the tasks There are three different types of robotic programs, remote control, artificial intelligence and hybrid A robot with remote control programing has a pre-existing set of commands that it will only perform if and when it receives a signal from a control source, typically a human being with a remote control It is perhaps more appropriate to view devices controlled primarily by human commands as falling in the discipline of automation rather than robotics Robots that use artificial intelligence interact with their environment on their own without a control source, and can determine reactions to objects and problems they encounter using their pre-existing programming Hybrid is a form of programming that incorporates both AI and RC functions Internet thus exploring the capabilities of developing a digitally connected world The demands for maximum utilization of the available resources in the most optimized manner The smart watches were an eye opener for the vast amount of unexplored technological advancements that could be unearthed for the betterment of mankind Hence the future scope in this technological aspect is wholesome III ARCHITECTURE The user logs in to the VNC client to access the raspberry pi This helps in remotely controlling the robot The pi's operating system is displayed and controlled on the mobile through the android app The user can run programs accordingly to his needs to make the robot move and control it as needed The face detection program runs in the background to detect faces when they come in front of it Based on the result, it provides access to the entry If access is granted, the text to speech function is used to declare verified access or not verified It can detect motion using the opencv libraries These security components, when armed, protect a given space by creating an invisible zone that cannot be breached without sounding an alarm These are typically used to protect rooms containing valuables, as well as areas less frequented in larger homes A Dc Motor: The robot is built using two wheels and a ball bearing for movement Each wheel is controlled by a Dc motor The motors supplied are basic DC motors with built in gears These kind of motors have only two wires which are for the power The direction of the motor is determined by the direction of the current through the motor, so by reversing the positive and negative supply we can make the motors change direction The DC Motors can be operated using Python, to control the GPIO pins The motors and Raspberry Pi are powered using Power Bank, which has USB out puts and capable of delivering upto Amp of current B Raspberry Pi: The Raspberry Pi is a credit sized computer which acts as the main controlling component of the robot This system uses the latest version of the raspberry pi, the B+ Model The Raspberry Pi B+ Model comes with 40 GPIO pins and USB inputs The Pi's audio system is accurate and has noise reduction The power consumption is reduced to 0.5W to 1W, thus making it convenient It is based around an ARM processor which can run the open source Linux operating system and includes a GPIO (General Purpose Input Output) connector which can be used to interface to electronic circuits that can control the robot The robot can be controlled through browser from a computer or a smart phone connected to WiFi network C Camera: The robot uses the Raspberry Pi camera module which is a NOIR camera This works good even in less light areas which is needed by the robot The camera module is connected to the CSI port, located behind the Ethernet port, and the camera software is enabled the camera is used either with bash or python D OpenCV: OpenCV (Open Source Computer Vision) is a library of programming functions mainly aimed at real-time computer vision It focuses mainly on real-time image processing OpenCV is written in C++ and its primary interface is in C++ and python This system uses python as its more compatible and uses less memory OpenCv in this system is used for Face Recognition and Motion Detection A facial recognition system is a computer application for automatically identifying or verifying a person from a digital image or a video frame from a video source Motion Detection is an application used to detect any kind of movement and record it by capturing images This is triggered by the difference and sensitivity in pixels from the camera's view integrated onto a single printed circuit board 170 ISSN:2249-5789 Lakshmi et al , International Journal of Computer Science & Communication Networks,Vol 5(3),169-172 E Raspbian Wheezy: Raspbian is a free operating system based on Debian optimized for the Raspberry Pi hardware An operating system is the set of basic programs and utilities that make your Raspberry Pi run Raspbian comes with over 35,000 packages, pre-compiled software bundled in a nice format for easy installation on your Raspberry Pi Fig.2 Eigen vectors Fig.1 Port connections for connecting the DC Motors and the Bluetooth module IV A METHODOLOGY Face Detection Module TECHNOLOGY USED: OPENCV OpenCV (Open Source Computer Vision) is a popular computer vision library started by Intel in 1999 The crossplatform library sets its focus on real-time image processing and includes patent-free implementations of the latest computer vision algorithms Automatic face recognition is all about extracting those meaningful features from an image, putting them into a useful representation and performing some kind of classification on them EIGHEN FACES FOR FACE RECOGNITION: Face recognition by computers is done by noticing inner features (eyes, nose, mouth) or outer features (head shape, hairline) used for a successful face recognition Automatic face recognition is all about extracting those meaningful features from an image, putting them into a useful representation and performing some kind of classification on them Face recognition based on the geometric features of a face is probably the most intuitive approach to face recognition One of the first automated face recognition systems was described in marker points (position of eyes, ears, nose) were used to build a feature vector (distance between the points, angle between them) The recognition was performed by calculating the Euclidean distance between feature vectors of a probe and reference image The Eigenfaces method took a holistic approach to face recognition: A facial image is a point from a highdimensional image space and a lower-dimensional representation is found, where classification becomes easy A set of eigenfaces can be generated by performing a mathematical process called principal component analysis (PCA) on a large set of images depicting different human faces For example, one's face might be composed of the average face plus 10% from eigenface 55% from eigenface 2, and even -3% from eigenface Remarkably, it does not take many eigenfaces combined together to achieve a fair approximation of most faces Also, because a person's face is not recorded by a digital photograph but instead as just a list of values (one value for each eigenface in the database used), much less space is taken for each person's face The eigenfaces that are created will appear as light and dark areas that are arranged in a specific pattern This pattern is how different features of a face are singled out to be evaluated and scored B Motion Detection Module When a particular region is kept under surveillance, if there is any motion, the pi camera detects it using change in pixels The system then takes a series of images and stores it in the folder to be seen by the user Motion detection has been implemented on the raspberry pi without making use of sensors Instead Opencv has been made use of When any motion changes happen the sensitivity increases which leads to fluctuations in the pixel and the camera switches on to click pictures How to detect motion with images? Suppose we have images, the images are a linear subsequence with some delay c between them If we would compare every pixel of the images, and we notice they’re all the same, we can conclude the images are identical But if they don’t, we could say, something happened during the 171 ISSN:2249-5789 Lakshmi et al , International Journal of Computer Science & Communication Networks,Vol 5(3),169-172 delay time c someone could place an object in front of the camera, or walked by And yes, this is the idea we will use for the motion detection The method which I described, is also called “Differential Images” It’s the result of subtracting images There are several different combination of subtracting images We will use the method of Collins et al as this method erases the phenomenon "ghosting" [4] [5] [6] [7] [8] Edward O Thorp,"Optimal gambling systems for favorable game." Review of the International Statistical Institute, V 37:3, 1969, pp 273– 293 Tara Kieffner "Wearable Computers: An Overview" Anne Eisenberg Inside These Lenses, a Digital Dimension April 25, 2009 New York Times "Tech specs" Google Retrieved 20 April 2013 Wearable Computing Devices, Like Apple’s iWatch, Will Exceed 485 Million Annual Shipments by 2018, ABI Research Collins et al uses images, which are called prev, current and next It first subtract the images previous and next and then the images current and next After this we will a logical AND operations between the results of both and threshold the final result to make it accurate for large changes only V CONCLUSION As the crime rates in India and all over the world are increasing drastically, it becomes necessary for us to get better fool proof technology for security Today we find most robots working for people in industries, factories, warehouses, and laboratories Robots are useful in many ways For instance, it boosts economy because businesses need to be efficient to keep up with the industry competition Therefore, having robots helps business owners to be competitive, because robots can jobs better and faster than humans can, e.g robot can built, assemble a car But robots cannot perform every job Today robots roles include assisting research and industry Finally, as the technology improves, there will be new ways to use robots which will bring new hopes and new potentials VI ACKNOWLEDGEMENT The authors would like to thank Technological Education Quality Improvement Program (TEQIP-II), BMSCE and ISE department faculty for supporting the work VII [1] [2] [3] REFERENCES Bass, L., Siewiorek, D., Smailagic, A., Stivoric, J ``On Site Wearable Computer System'', CHI 95 Conference Companion, pp 83-84, Denver, May 1995 Norman, D and Draper, S ``User Centered Systems Design'', Erbaum, 1986 raspberrypi.org/raspberry-pi-compute-module-new-product 172 ... having robots helps business owners to be competitive, because robots can jobs better and faster than humans can, e.g robot can built, assemble a car But robots cannot perform every job Today robots... electronic circuits that can control the robot The robot can be controlled through browser from a computer or a smart phone connected to WiFi network C Camera: The robot uses the Raspberry Pi camera... us to get better fool proof technology for security Today we find most robots working for people in industries, factories, warehouses, and laboratories Robots are useful in many ways For instance,