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Team Project: A Surveillant Robot System

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  1. Team Project:A Surveillant Robot System Functional Analysis Little Red Team Chankyu Park (Michael) Seonah Lee (Sarah) Qingyuan Shi (Lisa) Chengzhou Li JunMei Li Kai Lin

  2. Legend Internet InfraRed System & User USB System Overview Control robots, Play a bridge role between robots and remote user, Provide live video Internet A lab experimenter Remote Control robots, Receive a detected signal, See behavior of robots USB Robot main controller A remote user IR Communication The invader Robot A WebCam The surveillant robot Room

  3. Top-level function 1: Manage system A remote user, A remote Computer Connect Send video control Notify 2: Manage Robots 3: Transfer live video A lab experimenter, Robot main controller A lab experimenter, Robot main controller Runaway Alarm Control camera status Notify Control Robot Status 4: Wandering 5: Detect an intruder /an survelliant 6: Raise alarm 7: Runaway Both cameras Both robots A survelliant robot A intruder robot

  4. 1.7: Stream buffering 1.8: Display video Video Stream 1.1a: select function 1.2: RMI proxy Control robots 1.1b: configure connection 1.6: open connection Connect video 2nd-level functions (1/7) A remote computer 1: Manage system A Remote User Client Program RMI Registry 1.3: RMI Proxy 1.4: Notify detection to the user Receive Notify RMI Registry Client Program A Remote User P2P cam software FTP FTP P2P cam software

  5. 2nd-level functions (2/7) Main Control Computer 2: Manage Robots Initiate 2.7: transfer camera command 2.3: Camera proxy A Remote User Control camera 2.1: RMI proxy 2.4: command dispatcher Vision Recognition SW Server Program Control from remote 2.8: transfer robot command 2.2: IR proxy Control robots RMI Registry Server Program Server Program IR Tower 2.2: IR proxy 2.5: analyze status 2.1: RMI proxy Notify to remote Status of robot RMI Registry Server Program IR Tower 2.2: IR proxy - survellinet Raise alarm IR Tower 2.3: camera proxy 2.6: conversion of notification 2.2: IR proxy - intruder Notify from camera IR Tower runaway Vision Recognition SW Server Program

  6. 2nd-level functions (3/7) Main Control Computer 3: Transfer live video Initiate A Remote User 3.1: Initialization P2P cam software 3.2: Open connection Connect Video P2P cam software 3.3: Sending Video FTP Video stream Web Cam P2P cam software FTP

  7. 2nd-level functions (4/7) Both robots 4: Wandering 4.1: Start wandering 4.2: Control Wandering Control Robots Status of robot Embedded program Embedded Program 4.2 4.1 4.2.1: decide direction 4.2.2: control motors 4.1.1: Initialization Motors Wheels 4.1.3: Run 4.2.3: detect wall 4.2.4: receive signal from sensor 4.1.2: Standby Motors Wheels Touch Sensors Walls

  8. 2nd-level functions (5/7) Both cameras 5: Detection of Intruder/Survelliant 5.1: Start detection 5.2: Control detection Control Notify from the camera IR Tower Vision Recognition SW Vision Command Vision Recognition SW Vision Command 5.2 5.1 5.1.1: Initialization 5.2.1: capture video 5.2.4: recognize object 5.1.3: Run 5.2.2: Divide region 5.2.3: detect color 5.1.2: Standby Motors Wheels

  9. 2nd-level functions (6/7) A survelliant robot 6: Raise alarm 6.1: IR Proxy 6.2: Raise alarm Alarm IR Tower Embedded program Sound device Intruder robot 7: Runaway 7.1: change runaway mode 7.2: start runaway runaway Status IR Tower Embedded program Motors Wheels

  10. States and Modes - 1 States of survellient robot Modes of both robots Stand-by Stop Ready Stop Start Run Wandering Stop Start Detecting Pausing & Alarming Time-out Test Mode

  11. States and Modes - 2 States of intruder robots Modes of both robots Stand-by Stop Ready Stop Start Start Wandering Run Stop Start Detecting Runaway Test Mode

  12. Functional Architecture 1..n 1..n RCXTM Microcomputer A Remote Computer GUI P2P Cam Software 8-bit processor Commander 32kb RAM Mode Checker A serial data communication port FTP RMI IR Operator Robot Main Controller 1 Wandering Vision Recognition P2P Cam Software Robot Controller Input port Output port IR Tower Web Cam Vision Command 2 Touch Sensors 2 Motors