Autonomous Surveillance Robot/Car Using Computer Vision and Sensor Fusion

1from arduino.app_utils import App, Bridge
2from arduino.app_bricks.web_ui import WebUI
3from arduino.app_bricks.video_objectdetection import VideoObjectDetection
4from arduino.app_bricks.telegram_bot import TelegramBot
5from datetime import datetime, UTC
6
7ui = WebUI()
8bot = TelegramBot()
9
10# Reduce load with debounce
11detection_stream = VideoObjectDetection(confidence=0.5, debounce_sec=1.0)
12
13ui.on_message("override_th", lambda sid, threshold: detection_stream.override_threshold(threshold))
14
15TARGET_LABEL = "person"
16
17# State tracking
18person_present = False
19
20def send_detections_to_ui(detections: dict, frame):
21    global person_present
22
23    current_person = False
24
25    # 🔍 Process detections
26    for key, values in detections.items():
27        for value in values:
28
29            # Send to WebUI
30            entry = {
31                "content": key,
32                "confidence": value.get("confidence"),
33                "timestamp": datetime.now(UTC).isoformat()
34            }
35            ui.send_message("detection", message=entry)
36
37            # Check for person
38            if key == TARGET_LABEL:
39                current_person = True
40
41    # Person just detected
42    if current_person and not person_present:
43        print("PERSON DETECTED")
44
45        person_present = True
46
47        # Stop robot
48        Bridge.call("control_robot", "STOP")
49
50        # Turn ON buzzer
51        Bridge.call("buzzer_on")
52
53        # Send image once
54        if frame is not None:
55            bot.send_photo(
56                frame,
57                caption="🚨 PERSON DETECTED!"
58            )
59
60    # Person disappeared
61    elif not current_person and person_present:
62        print("AREA CLEAR")
63
64        person_present = False
65
66        # Resume robot
67        Bridge.call("control_robot", "START")
68
69        # Turn OFF buzzer
70        Bridge.call("buzzer_off")
71
72detection_stream.on_detect_all(send_detections_to_ui)
73
74App.run()

1#include <Arduino_RouterBridge.h>
2
3// Ultrasonic
4#define TRIG 9
5#define ECHO 10
6
7// Motors (L298N)
8#define ENA 5
9#define IN1 6
10#define IN2 7
11#define ENB 3
12#define IN3 4
13#define IN4 2
14
15// Buzzer
16#define BUZZER 8
17
18long duration;
19int distance;
20
21bool robotEnabled = true;   // Controlled by MPU
22
23// FUNCTION FOR MEASURING DISTANCE
24int getDistance() {
25  digitalWrite(TRIG, LOW);
26  delayMicroseconds(2);
27  digitalWrite(TRIG, HIGH);
28  delayMicroseconds(10);
29  digitalWrite(TRIG, LOW);
30
31  duration = pulseIn(ECHO, HIGH, 25000);
32
33  if (duration == 0) return 400;
34
35  return duration * 0.034 / 2;
36}
37
38// FUNCTION FOR CONTROLLING MOTOR
39void forward() {
40  digitalWrite(IN1, HIGH);
41  digitalWrite(IN2, LOW);
42  digitalWrite(IN3, HIGH);
43  digitalWrite(IN4, LOW);
44  analogWrite(ENA, 120);
45  analogWrite(ENB, 120);
46}
47
48void stopMotors() {
49  digitalWrite(IN1, LOW);
50  digitalWrite(IN2, LOW);
51  digitalWrite(IN3, LOW);
52  digitalWrite(IN4, LOW);
53}
54
55void turnLeft() {
56  digitalWrite(IN1, LOW);
57  digitalWrite(IN2, HIGH);
58  digitalWrite(IN3, HIGH);
59  digitalWrite(IN4, LOW);
60}
61
62void turnRight() {
63  digitalWrite(IN1, HIGH);
64  digitalWrite(IN2, LOW);
65  digitalWrite(IN3, LOW);
66  digitalWrite(IN4, HIGH);
67}
68
69// OBSTACLE AVOIDANCE
70void avoidIfNeeded() {
71  int dist = getDistance();
72
73  if (dist < 15) {
74    stopMotors();
75    delay(150);
76
77    // Try left
78    turnLeft();
79    delay(300);
80    stopMotors();
81    delay(100);
82    int leftDist = getDistance();
83
84    // Return to center
85    turnRight();
86    delay(300);
87
88    // Try right
89    turnRight();
90    delay(300);
91    stopMotors();
92    delay(100);
93    int rightDist = getDistance();
94
95    // Decide best direction
96    if (leftDist > rightDist) {
97      turnLeft();
98      delay(300);
99    } else {
100      turnRight();
101      delay(300);
102    }
103
104    stopMotors();
105  }
106}
107
108// BUZZER
109void buzzer_on() {
110  digitalWrite(BUZZER, HIGH);
111  Monitor.println("Buzzer ON");
112}
113
114void buzzer_off() {
115  digitalWrite(BUZZER, LOW);
116  Monitor.println("Buzzer OFF");
117}
118
119// FUNCTION FOR HANDLING BRIDGE COMMANDS FROM MPU
120void control_robot(String cmd) {
121  if (cmd == "START") {
122    robotEnabled = true;
123    Monitor.println("Robot STARTED");
124
125  } else if (cmd == "STOP") {
126    robotEnabled = false;
127    stopMotors();
128    Monitor.println("Robot STOPPED");
129  }
130}
131
132
133void setup() {
134  pinMode(TRIG, OUTPUT);
135  pinMode(ECHO, INPUT);
136
137  pinMode(ENA, OUTPUT);
138  pinMode(IN1, OUTPUT);
139  pinMode(IN2, OUTPUT);
140  pinMode(ENB, OUTPUT);
141  pinMode(IN3, OUTPUT);
142  pinMode(IN4, OUTPUT);
143
144  pinMode(BUZZER, OUTPUT);
145
146  Bridge.begin();
147  Monitor.begin();
148
149  Bridge.provide_safe("control_robot", control_robot);
150  Bridge.provide_safe("buzzer_on", buzzer_on);
151  Bridge.provide_safe("buzzer_off", buzzer_off);
152
153  Monitor.println("System Ready");
154}
155
156
157void loop() {
158
159  if (!robotEnabled) {
160    stopMotors();
161    return;
162  }
163
164  avoidIfNeeded();
165  forward();
166}