Smart Guard Robot

الراصد الذكي

Intelligent Quadruped Scout & Guard Robot

     

Smart Guard is an AI-assisted quadruped surveillance robot that combines intelligent sensor monitoring, real-time camera streaming, and autonomous patrol capabilities. Controlled through a Flutter application over WebSocket, it operates in Manual, Scout, and Guard modes for exploration, monitoring, and security tasks.

Key Features

• 🤖 Quadruped walking robot
• 🧠 Sensor-assisted intelligence
• 📷 Live camera streaming
• 📡 Motion & presence detection
• 🛡️ Autonomous guard mode
• 🔍 Environment scouting mode
• 🎮 Real-time manual control
• 📱 Flutter mobile application

Operating Modes

Mode	Description
🕹️ Manual	Full movement control (forward / backward / left / right) via the app
🔍 Scout	Robot scans the environment using distance sensor and camera, streaming data to the app
🛡️ Guard	Automatically detects people via LD2420 and sends an instant alert with direction

Intelligent Behavior

The robot combines data from:

• HC-SR04 distance sensor
• LD2420 presence sensor
• Camera stream

to improve environment awareness, obstacle detection, target monitoring, and autonomous guard operations.

Hardware

Component	Model
Single-board computer	Raspberry Pi
Servo controller	PCA9685 (16-channel)
Servos	8× 180° servos + 1 scan servo
Distance sensor	HC-SR04
Presence sensor	LD2420 (OT1 / OT2)
Camera	Raspberry Pi Camera
App	Flutter (Android / iOS)

Servo Channel Map — PCA9685

Channel	Leg	Joint	Function
0	Front Left	Upper	Swing (left / right)
1	Front Left	Lower	Lift (up / down)
2	Front Right	Upper	Swing (left / right)
3	Front Right	Lower	Lift (up / down)
4	Back Left	Upper	Swing (left / right)
5	Back Left	Lower	Lift (up / down)
6	Back Right	Upper	Swing (left / right)
7	Back Right	Lower	Lift (up / down)
15	—	Scan servo	Rotate HC-SR04

All servos start at 90°. Right-side legs are automatically mirrored in firmware: angle = 180 - angle

Wiring

PCA9685 → Raspberry Pi

PCA9685	Raspberry Pi
VCC	5V
GND	GND
SDA	GPIO 2
SCL	GPIO 3

HC-SR04

HC-SR04	Raspberry Pi
VCC	5V
GND	GND
TRIG	GPIO 23
ECHO	GPIO 24 ← voltage divider (1K / 2K)

⚠️ Voltage divider on ECHO: 1K resistor between ECHO and GPIO24, 2K between GPIO24 and GND

LD2420

LD2420	Raspberry Pi
3.3V	3.3V
GND	GND
OT1	GPIO 17 (presence detected)
OT2	GPIO 27 (motion detected)

⚠️ Do NOT connect LD2420 to 5V — it runs on 3.3V only

All GND pins (Pi, PCA9685, servos, HC-SR04, LD2420) must share a common ground

WebSocket API

Server runs on port 8765 — camera stream on 8080.

Command	Fields	Description
set_mode	mode: manual|scout|guard	Switch operating mode
move	direction, speed	Move the robot (manual mode only)
scan	angle	Rotate scan servo
ping	—	Connection health check

Running on the Pi

cd raspberry_pi
pip install websockets adafruit-circuitpython-pca9685 adafruit-circuitpython-motor RPi.GPIO pyserial
python server.py

Running the App

flutter pub get
flutter run

Set the Pi's IP address in the app settings, then select your desired mode.

وضع الاستطلاع

الصفحة الرئسيه

وضع الحراسه

3D Printed Parts

     

The 3D/ folder contains all STL files:

Project Structure

Smart-Guard/
├── lib/                        # Flutter app
│   └── main.dart
├── raspberry_pi/               # Robot firmware (obfuscated)
│   ├── server.py               # Main WebSocket server
│   ├── gait.py                 # Walking algorithm 🔒
│   ├── servo_controller.py     # Servo control 🔒
│   ├── sensors.py              # HC-SR04 + LD2420
│   └── camera_stream.py        # Camera streaming
├── 3D/                         # 3D print files
│   ├── Base.stl
│   ├── Leg.stl
│   ├── arm.stl
│   └── ...
└── assets/

@vuvvvv

Future Improvements

Planned enhancements for future versions:

• 🤖 Full autonomous navigation
• 🗺️ Real-time mapping (SLAM)
• 🎯 AI object recognition and tracking
• 🔋 Battery monitoring system
• 📍 GPS-based patrol routes
• 🌐 Remote internet control
• 📢 Voice alerts and notifications
• ☁️ Cloud event logging