IRJET- Review: Autonomous Detection and Shooting of Moving Objects at Borders with Arduino and Stepper Motors
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This document describes a proposed system to autonomously detect and shoot moving objects at borders using Arduino and stepper motors. A PIR sensor would detect moving objects and an ultrasonic sensor would calculate the object's position. This position data would be sent to an Arduino, which would control stepper motors to rotate a mounted gun and aim it at the target. The gun would then fire at the moving object. This system aims to enhance border security by automatically eliminating intruders, without relying on human soldiers. It could help safeguard borders in difficult climates like the Indo-Pakistan border. A series of these systems placed at intervals along the border could provide comprehensive detection and response capabilities.
![International Research Journal of Engineering and Technology (IRJET) e-ISSN: 2395-0056
Volume: 06 Issue: 02 | Feb 2019 www.irjet.net p-ISSN: 2395-0072
© 2019, IRJET | Impact Factor value: 7.211 | ISO 9001:2008 Certified Journal | Page 2543
Review: Autonomous Detection and Shooting of Moving Objects at
Borders with Arduino and Stepper motors
Vaibhav Sangle1, Vimal Gohil2, Shubham Mahajan3, Prathamesh Kamat4
1,2,3,4BE Student, Department of Electronics and Communication Engineering, Shivajirao S. Jondhle College of
Engineering & Technology Asangaon, India
----------------------------------------------------------------------***---------------------------------------------------------------------
Abstract - The major threat to the today’s world is the
terrorism in most parts of the world. Terroristmostlyenter the
enemy nations through the borders. The borders are guarded
by electric fences and security guards. InIndo-Pakistan border
the extreme climatic condition is thechallengingaspectinsafe
guarding the borders. So, something which withstands
extreme climate and which is cost effective is needed for our
nation so that the loss of soldiers will also be avoided. In order
to support this, a stationary gun is fixed which detects the
moving object. The borders are captured with web cameras
and are given as the input to the system. The moving object is
eliminated by means of gun. It detects the moving object by
background subtraction method with OpenCV and sends the
location of the objects to Arduino. The location iscalculatedby
means of pixels angles. These angles are sent as the input to
the Arduino. The Stepper motor which is interfaced with the
Arduino rotates according to thepositionofthemovingobject.
A single gun cannot guard the whole border, soaseriesofguns
are fixed at borders at certain intervals so thattheintrusion of
enemies will be detected in many guns and the enemies will be
eliminated. This method will reduce the use of soldiers at
borders and can safeguard the borders all time. It integrates
the usage of technology by infusing smartness to suit the
current needs and encouraging smart usage of available
resources.
Key Words: Image Subtraction, OpenCV, Motion Detection.
I. INTRODUCTION
Motion Detection can be done inmany ways.Therearemany
solutions available for this. But it seems to be more
complexity and ineffective on real time application. Tomake
the system handle in easier and with more security, this
proposal impends cheap and more effective technique for
Moving Object Detection. Many techniques have been
proposed from time to time to improve the efficiency of
motion detection and tracking such as Mean-shift and
Optical flow algorithms. Background subtraction is
fundamental algorithm and most effective for detecting and
tracking the moving objects. Background subtraction is a
process of detecting any changes in the current frame by
subtracting pixels from a fixed reference frame. The gun
proposed in this paper has two degrees of freedom to shoot
the interference, one degree allows to move on horizontal
axis, while the other degree allows to move on vertical axis.
Both of these movements make the gun to aim the target in
3D world.
II. LITERATURE SURVEY
Autonomous shooting system paper have been previously
created and implemented in the past. The system as a whole
is not a new technology. Various aspects of the system have
been done previously for a variety of reasons, such as the
motion tracking and a gun-based system that executes
incoming targets. These were the original and unique
technologies that when integrated together will help in
building our autonomous shooting system. The influence of
these existing technologies has widened the range for the
growth of different prototypes for future solutions. The
previous projects failures and successes are determined by
the researching them for the design of thisproject whichwill
help to improve our system. [1]
By researching on all the similar existing technologies
implemented successfully in the past, the designers of this
system intend to integrate several of them to makea specific
design. The system will have several functions, mainly as a
defense gun to guard. This system can also be further
optimized depending on its use but initiallyitcanbeusedfor
local security by businesses or home owners. It can even be
used in battlefields in order to protect a military base from
incoming enemies and can also have the ability to
successfully detect and intercept incoming planes,
helicopters, and missiles. The system’s concept does have
several uses and one can use it according to his needs. [2]
In the recent years, objectdetectionandtrackinghas become
an integral part of various applications such as Surveillance
system, Vehicle navigation, and autonomous robot
navigation. Especially in the field of surveillance system it
has gained greater significance than ever before due to the
recent terror activities taking place all over the world. Many
efforts have been made to make the system automated in
order to decrease the complexity and to increase the ease
with which it can be implemented. The paper describes the
implementation of Object Detection and Tracking for the
surveillance system on Arduino act as standalone system
and it is programmed in embedded C language. Thedesignis
successfully implemented to detect andtrack theobjectwith
a minimum time delay. [3]](https://image.slidesharecdn.com/irjet-v6i2482-190805083756/85/IRJET-Review-Autonomous-Detection-and-Shooting-of-Moving-Objects-at-Borders-with-Arduino-and-Stepper-Motors-1-320.jpg)
![International Research Journal of Engineering and Technology (IRJET) e-ISSN: 2395-0056
Volume: 06 Issue: 02 | Feb 2019 www.irjet.net p-ISSN: 2395-0072
© 2019, IRJET | Impact Factor value: 7.211 | ISO 9001:2008 Certified Journal | Page 2545
Speed of sound in air is consider as approximately 340
meter/sec.
The above formula is used to find the objects in real time
position from the ultrasonic detector by the moving object.
This formula runs in a loop so, many numbers of echo waves
are processed in a second. In the way, the detected moving
objects are traced in the next upcoming loop. This moving
object is our target to be aimed and fired.
HC-SR04 Ultrasonic Sensor Features
Operating Voltage: +5V
Theoretical Measuring Distance: 2cm to 450cm
Practical Measuring Distance: 2cm to 80cm
Accuracy: 3mm
Measuring angle covered: <15o
Operating Current: <15mA
Operating Frequency: 40Hz
IV.II. Shooting
This is done with the help of Electro-magnetic gun. A railgun
is a device that uses electromagnetic force to launch high
velocity projectiles, by means of a sliding armature that is
accelerated along a pair of conductive rails.
Fig – 5: Electromagnetic Gun
V. CONCLUSIONS
From this paper we conclude that, it provides a better
security as well as more security features. The proposed
system prevents the entries of antisocial person trying to
cross the border withoutpriorpermission,hencethissystem
will reduce the causing of rioting as well as prevent terrorist
activities. We will design a tracking system that is able to
detect and track moving objects in outdoor environment.
After setting up a basic system, we were able to bring
significant improvements in the tracking by use of new
algorithms.
REFERENCES
[1]. Ricardo Omar Chavez-Garcia and Olivier Aycard,”
Multiple Sensor Fusion and Classification for Moving
Object Detection and Tracking”-DOI
10.1109/TCSVT.2015.2493499, IEEE Transactions on
Circuits and Systems for Video Technology
[2]. Jing-Ming Guo, Senior Member, IEEE, Chih-Hsien Hsia,
Member IEEE, Yun-Fu Liu, Student Member, IEEE,Min-
Hsiung Shih, Cheng-Hsin Chang, and Jing-Yu Wu,” Fast
Background Subtraction Based on a Multilayer
Codebook Model for Moving Object Detection”-IEEE
Transactions on Circuits and Systems for Video
Technology, VOL. 23, NO. 10, OCTOBER 2013
[3]. Chia-Hung Yeh, Senior Member, IEEE, Chih-Yang Lin*,
Member, IEEE, Kahlil Muchtar, Hsiang-Erh Lai, and
Ming-Ting Sun, Fellow, IEEE, “Three-Pronged
Compensation and Hysteresis ThresholdingforMoving
Object Detection in Real-Time Video Surveillance “-
TIE.2017.2669881, IEEE Transactions on Industrial
Electronics
[4]. Ahmed Elgammal, Ramani Duraiswami, and Larry S
Davis, “Efficient kernel densityestimationusingthefast
gauss transform with applications to color modeling
and tracking,” Pattern Analysis and Machine
Intelligence, IEEE Transactions on, vol. 25, no. 11, pp.
1499–1504, 2003.](https://image.slidesharecdn.com/irjet-v6i2482-190805083756/85/IRJET-Review-Autonomous-Detection-and-Shooting-of-Moving-Objects-at-Borders-with-Arduino-and-Stepper-Motors-3-320.jpg)
IRJET- Review: Autonomous Detection and Shooting of Moving Objects at Borders with Arduino and Stepper Motors
- 1. International Research Journal of Engineering and Technology (IRJET) e-ISSN: 2395-0056 Volume: 06 Issue: 02 | Feb 2019 www.irjet.net p-ISSN: 2395-0072 © 2019, IRJET | Impact Factor value: 7.211 | ISO 9001:2008 Certified Journal | Page 2543 Review: Autonomous Detection and Shooting of Moving Objects at Borders with Arduino and Stepper motors Vaibhav Sangle1, Vimal Gohil2, Shubham Mahajan3, Prathamesh Kamat4 1,2,3,4BE Student, Department of Electronics and Communication Engineering, Shivajirao S. Jondhle College of Engineering & Technology Asangaon, India ----------------------------------------------------------------------***--------------------------------------------------------------------- Abstract - The major threat to the today’s world is the terrorism in most parts of the world. Terroristmostlyenter the enemy nations through the borders. The borders are guarded by electric fences and security guards. InIndo-Pakistan border the extreme climatic condition is thechallengingaspectinsafe guarding the borders. So, something which withstands extreme climate and which is cost effective is needed for our nation so that the loss of soldiers will also be avoided. In order to support this, a stationary gun is fixed which detects the moving object. The borders are captured with web cameras and are given as the input to the system. The moving object is eliminated by means of gun. It detects the moving object by background subtraction method with OpenCV and sends the location of the objects to Arduino. The location iscalculatedby means of pixels angles. These angles are sent as the input to the Arduino. The Stepper motor which is interfaced with the Arduino rotates according to thepositionofthemovingobject. A single gun cannot guard the whole border, soaseriesofguns are fixed at borders at certain intervals so thattheintrusion of enemies will be detected in many guns and the enemies will be eliminated. This method will reduce the use of soldiers at borders and can safeguard the borders all time. It integrates the usage of technology by infusing smartness to suit the current needs and encouraging smart usage of available resources. Key Words: Image Subtraction, OpenCV, Motion Detection. I. INTRODUCTION Motion Detection can be done inmany ways.Therearemany solutions available for this. But it seems to be more complexity and ineffective on real time application. Tomake the system handle in easier and with more security, this proposal impends cheap and more effective technique for Moving Object Detection. Many techniques have been proposed from time to time to improve the efficiency of motion detection and tracking such as Mean-shift and Optical flow algorithms. Background subtraction is fundamental algorithm and most effective for detecting and tracking the moving objects. Background subtraction is a process of detecting any changes in the current frame by subtracting pixels from a fixed reference frame. The gun proposed in this paper has two degrees of freedom to shoot the interference, one degree allows to move on horizontal axis, while the other degree allows to move on vertical axis. Both of these movements make the gun to aim the target in 3D world. II. LITERATURE SURVEY Autonomous shooting system paper have been previously created and implemented in the past. The system as a whole is not a new technology. Various aspects of the system have been done previously for a variety of reasons, such as the motion tracking and a gun-based system that executes incoming targets. These were the original and unique technologies that when integrated together will help in building our autonomous shooting system. The influence of these existing technologies has widened the range for the growth of different prototypes for future solutions. The previous projects failures and successes are determined by the researching them for the design of thisproject whichwill help to improve our system. [1] By researching on all the similar existing technologies implemented successfully in the past, the designers of this system intend to integrate several of them to makea specific design. The system will have several functions, mainly as a defense gun to guard. This system can also be further optimized depending on its use but initiallyitcanbeusedfor local security by businesses or home owners. It can even be used in battlefields in order to protect a military base from incoming enemies and can also have the ability to successfully detect and intercept incoming planes, helicopters, and missiles. The system’s concept does have several uses and one can use it according to his needs. [2] In the recent years, objectdetectionandtrackinghas become an integral part of various applications such as Surveillance system, Vehicle navigation, and autonomous robot navigation. Especially in the field of surveillance system it has gained greater significance than ever before due to the recent terror activities taking place all over the world. Many efforts have been made to make the system automated in order to decrease the complexity and to increase the ease with which it can be implemented. The paper describes the implementation of Object Detection and Tracking for the surveillance system on Arduino act as standalone system and it is programmed in embedded C language. Thedesignis successfully implemented to detect andtrack theobjectwith a minimum time delay. [3]
- 2. International Research Journal of Engineering and Technology (IRJET) e-ISSN: 2395-0056 Volume: 06 Issue: 02 | Feb 2019 www.irjet.net p-ISSN: 2395-0072 © 2019, IRJET | Impact Factor value: 7.211 | ISO 9001:2008 Certified Journal | Page 2544 Ultrasonic Sensor DisplayPower Supply III. PROPOSED SYSTEM This system is fully secured by our own soldiers, no other person without the higher officials cannotaccess the system. This system is secured by a PIR sensor, so that if intruder tries to approach the system, he will be threatened by a warning buzzer which is installed in control room. This system is also secured by a Vibration Sensor, so that if the intrudertriestomanipulatethesystemthroughunderground means the system will give awarning buzzerincontrolroom. Fig 1: Block Diagram Fig 2: Flowchart When program start executing, initially PIR=0. PIR continuously scan for object, ifthereisnothingtodetectthen program run in loop as shown in flowchart orifanyhot body object like human detect, PIR gets 1 and triggered the I/P of controller, so program go for next step of flowchart. In this step, the program calculates the real time position of object. According to position of object motorrotatetoaimthetarget and controller triggered the I/P of gun. IV. Working: IV.I. Detects moving object using The scanning of moving object is done easily by using PIR sensor. The PIR sensor detects or accepts passivelyincoming InfraRed radiation coming from object. The PIR has two slots in it, each slot is made of special material that is sensitive to IR. The lens used here is know as Fresnel lens. When the sensor is idle, both slots detects the same amount of IR, the ambient amount radiated from the object. When a warm body like human or animal passes by,it first intercepts one half of the PIR sensor, which causes a positive differential change between the two halves. When warm body leaves the sensing area, the reverse happens. Fig 3: Working of PIR IV.II. Calculating real time position of the moving object The ultrasonic sensor calculates the actual distancebetween the gun and the moving objects, and decides its real time position. This moving object is our target to be aimed and fired. Ultrasonic sound vibrates at a frequency above the range of human hearing. Transducers are the microphone used to receive and send the ultrasonic sound. Our ultrasonic sensor, like many other, use a single transducer to send a pulse and to receive the echo. The sensor determines the distance to a target by measuring time lapses between the sending and receiving of the ultrasonic pulse. Fig – 4: Calculating real time position of the Moving object using Controller Servo Motor Gun PIR Sensor Vibration Sensor Start Get I/P from PIR If detected Calculate the real time position Pan and tilt the servo to aim the target and fires END NO YES
- 3. International Research Journal of Engineering and Technology (IRJET) e-ISSN: 2395-0056 Volume: 06 Issue: 02 | Feb 2019 www.irjet.net p-ISSN: 2395-0072 © 2019, IRJET | Impact Factor value: 7.211 | ISO 9001:2008 Certified Journal | Page 2545 Speed of sound in air is consider as approximately 340 meter/sec. The above formula is used to find the objects in real time position from the ultrasonic detector by the moving object. This formula runs in a loop so, many numbers of echo waves are processed in a second. In the way, the detected moving objects are traced in the next upcoming loop. This moving object is our target to be aimed and fired. HC-SR04 Ultrasonic Sensor Features Operating Voltage: +5V Theoretical Measuring Distance: 2cm to 450cm Practical Measuring Distance: 2cm to 80cm Accuracy: 3mm Measuring angle covered: <15o Operating Current: <15mA Operating Frequency: 40Hz IV.II. Shooting This is done with the help of Electro-magnetic gun. A railgun is a device that uses electromagnetic force to launch high velocity projectiles, by means of a sliding armature that is accelerated along a pair of conductive rails. Fig – 5: Electromagnetic Gun V. CONCLUSIONS From this paper we conclude that, it provides a better security as well as more security features. The proposed system prevents the entries of antisocial person trying to cross the border withoutpriorpermission,hencethissystem will reduce the causing of rioting as well as prevent terrorist activities. We will design a tracking system that is able to detect and track moving objects in outdoor environment. After setting up a basic system, we were able to bring significant improvements in the tracking by use of new algorithms. REFERENCES [1]. Ricardo Omar Chavez-Garcia and Olivier Aycard,” Multiple Sensor Fusion and Classification for Moving Object Detection and Tracking”-DOI 10.1109/TCSVT.2015.2493499, IEEE Transactions on Circuits and Systems for Video Technology [2]. Jing-Ming Guo, Senior Member, IEEE, Chih-Hsien Hsia, Member IEEE, Yun-Fu Liu, Student Member, IEEE,Min- Hsiung Shih, Cheng-Hsin Chang, and Jing-Yu Wu,” Fast Background Subtraction Based on a Multilayer Codebook Model for Moving Object Detection”-IEEE Transactions on Circuits and Systems for Video Technology, VOL. 23, NO. 10, OCTOBER 2013 [3]. Chia-Hung Yeh, Senior Member, IEEE, Chih-Yang Lin*, Member, IEEE, Kahlil Muchtar, Hsiang-Erh Lai, and Ming-Ting Sun, Fellow, IEEE, “Three-Pronged Compensation and Hysteresis ThresholdingforMoving Object Detection in Real-Time Video Surveillance “- TIE.2017.2669881, IEEE Transactions on Industrial Electronics [4]. Ahmed Elgammal, Ramani Duraiswami, and Larry S Davis, “Efficient kernel densityestimationusingthefast gauss transform with applications to color modeling and tracking,” Pattern Analysis and Machine Intelligence, IEEE Transactions on, vol. 25, no. 11, pp. 1499–1504, 2003.