Team Project: A Surveillant Robot System

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Team ProjectA Surveillant Robot System
Functional Analysis

• Little Red Team
• Chankyu Park (Michael)
• Seonah Lee (Sarah)
• Qingyuan Shi (Lisa)
• Chengzhou Li
• JunMei Li
• Kai Lin

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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
5 Detect an intruder /an survelliant
4 Wandering
6 Raise alarm
7 Runaway
Both cameras
Both robots
A survelliant robot
A intruder robot
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2nd-level functions (1/7)
A remote computer
1 Manage system
Client Program
RMI Registry
A Remote User
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
2.6 conversion of notification
2.3 camera proxy
IR Tower
Notify from camera
2.2 IR proxy - intruder
IR Tower
runaway
Vision Recognition SW
Server Program
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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
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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
4.1
4.2
4.2.2 control motors
4.2.1 decide direction
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
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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
5.1
5.2
5.2.4 recognize object
5.2.1 capture video
5.1.1 Initialization
5.1.3 Run
5.2.2 Divide region
5.2.3 detect color
5.1.2 Standby
Motors Wheels
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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
7 Runaway
Intruder robot
7.1 change runaway mode
7.2 start runaway
runaway
Status
IR Tower
Embedded program Motors Wheels
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States and Modes - 1
States of survellient robot
Modes of both robots
Stand-by
Ready
Stop
Start
Stop
Run
Wandering
Stop
Detecting
Start
Pausing Alarming
Time-out
Test Mode
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States and Modes - 2
States of intruder robots
Modes of both robots
Stand-by
Ready
Stop
Start
Stop
Wandering
Start
Run
Stop
Detecting
Start
Runaway
Test Mode
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Functional Architecture
RCXTM Microcomputer
1..n
1..n
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
Robot Controller
Vision Recognition
P2P Cam Software
Input port
Output port
IR Tower
Web Cam
Vision Command
2 Motors
2 Touch Sensors