High-end-autonomous-anomaly-detection-robot

Building a high-end autonomous anomaly detection robot that maps your home, detects anomalies, and sends alerts. With NRF24L01 (for wireless communication) and 4-channel motor controlles.

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⚙️ Why this Project?

To create a system who can collect data behafe of humans.
first when start it's move randomly (slowly) for 2D mapping the floor, and if I run joystick this time it can follow my instructions. after mapping done it can store in a SD card, not only store 2d map but also the GPS location with floor angle using gyroscope, then slowly but randomly travel the room for dictation any anomaly using ultrasonic sensor, motion diction and gas sensor and LDR.
In our Raspberry Pi Pico W & Esp32 both has their own Wi-Fi & Bluetooth so they can communicate each other using this. And its batter to Raspberry Pi Pico W can control all important sensors because it has more I2C pin. and using servo motor to rotate ultrasonic sensor to create the map (may it's enough with one ultrasonic sensor) and another ultrasonic sensor fix for correction (if needed). also the code for a joystick using two HW-504 & Arduino nano. And send anomaly data using Gmail-smtp.

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📌 Key Features & Workflow

1. 2D Mapping:

   • ESP32 rotates servo (0°-180°) while logging ultrasonic distances.
   • Data saved as map.csv (GPS, gyro angle, servo angle, distance).

2. Anomaly Detection:

   • Pico W sends gas/light/motion data to ESP32 every 2s.
   • ESP32 cross-checks with GPS/gyro data and triggers Gmail alerts.

3. Manual Control:

   • Joystick sends X/Y values to ESP32 via HTTP.
   • Add motor control logic in Pico W code to respond to /control endpoint.

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📌 Hardware Connections

1. ESP32 (Master)

Component	ESP32 Pin	Purpose
Servo Motor	GPIO27	Rotate ultrasonic sensor
Ultrasonic Sensor	Trig: GPIO13, Echo: GPIO12	Distance measurement
GPS Module	TX: GPIO16, RX: GPIO17	Location tracking
MPU6050 (Gyro)	SDA: GPIO21, SCL: GPIO22	Floor angle calculation
SD Card (CS)	GPIO15	Map/GPS data storage

2. Raspberry Pi Pico W (Motor/Sensor Hub)

Component	Pico W Pin	Purpose
Motor A (IN1/IN2)	GP5/GP6	Left wheel control
Motor B (IN1/IN2)	GP7/GP8	Right wheel control
Gas Sensor (MQ-2)	GP26 (ADC0)	Gas leak detection
LDR	GP27 (ADC1)	Light sensing
PIR Motion	GP28	Intruder detection

3. Arduino Nano (Joystick)

Component	Nano Pin	Purpose
Joystick X/Y	A0/A1	Manual control
WiFi Module (ESP-01)	TX/RX: D2/D3	Send commands

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📌 Required Libraries

1. ESP32 (Arduino IDE):
   • WiFi, WebServer, SD, TinyGPS++, MPU6050_tockn, Servo, ESP_Mail_Client
2. Pico W (Arduino IDE):
   • WiFi, HTTPClient
3. Arduino Nano:
   • SoftwareSerial, WiFiEsp

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Check the Wireless modules are working properly :: NRF module check --> code

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📌 Final Code

1. ESP32 (Master Controller)

#include <WiFi.h>  
#include <WebServer.h>  
#include <SD.h>  
#include <TinyGPS++.h>  
#include <MPU6050_tockn.h>  
#include <Servo.h>  
#include <ESP_Mail_Client.h>  

#define SERVO_PIN 27  
#define TRIG_PIN 13  
#define ECHO_PIN 12  
#define SD_CS 15  

// Wi-Fi AP  
const char* ssid = "RobotAP";  
const char* password = "12345678";  
WebServer server(80);  
String picoData = "";  

// Sensors  
TinyGPSPlus gps;  
HardwareSerial SerialGPS(2);  
MPU6050 mpu(Wire);  
Servo ultrasonicServo;  

// Email  
SMTPSession smtp;  
void sendAlert(String msg);  

void setup() {  
  Serial.begin(115200);  
  WiFi.softAP(ssid, password);  
  Serial.print("AP IP: ");  
  Serial.println(WiFi.softAPIP());  

  // Web Server  
  server.on("/data", HTTP_POST, [](){  
    picoData = server.arg("plain");  
    server.send(200, "text/plain", "OK");  
  });  
  server.begin();  

  // Sensors  
  ultrasonicServo.attach(SERVO_PIN);  
  SerialGPS.begin(9600, SERIAL_8N1, 16, 17);  
  SD.begin(SD_CS);  
  Wire.begin();  
  mpu.begin();  
  mpu.calcGyroOffsets();  
}  

void loop() {  
  server.handleClient();  

  // Phase 1: Mapping  
  if (!SD.exists("/map.csv")) {  
    File mapFile = SD.open("/map.csv", FILE_WRITE);  
    for(int angle=0; angle<=180; angle+=10) {  
      ultrasonicServo.write(angle);  
      delay(500);  
      long dist = pulseIn(ECHO_PIN, HIGH) * 0.034 / 2;  
      mpu.update();  
      while(SerialGPS.available() > 0) {  
        if(gps.encode(SerialGPS.read())) {  
          mapFile.print(gps.location.lat(), 6);  
          mapFile.print(",");  
          mapFile.print(gps.location.lng(), 6);  
          mapFile.print(",");  
          mapFile.print(mpu.getAngleZ());  
          mapFile.print(",");  
          mapFile.print(angle);  
          mapFile.print(",");  
          mapFile.println(dist);  
        }  
      }  
    }  
    mapFile.close();  
  }  

  // Phase 2: Anomaly Detection  
  else if(picoData != "") {  
    int gas = picoData.substring(0, picoData.indexOf(',')).toInt();  
    int light = picoData.substring(picoData.indexOf(',')+1, picoData.lastIndexOf(',')).toInt();  
    bool motion = picoData.endsWith("1");  

    if(gas > 1000 || light < 500 || motion) {  
      String alertMsg = "Gas:" + String(gas) + ",Light:" + String(light) + ",Motion:" + motion;  
      sendAlert(alertMsg);  
    }  
    picoData = "";  
  }  
}  

void sendAlert(String msg) {  
  smtp.debug(1);  
  smtp.callback(smtpCallback);  
  ESP_Mail_Session session;  
  session.server.host_name = "smtp.gmail.com";  
  session.server.port = 465;  
  session.login.email = "[email protected]";  
  session.login.password = "your_app_password";  

  SMTP_Message message;  
  message.sender.name = "Robot";  
  message.sender.email = "[email protected]";  
  message.subject = "ANOMALY DETECTED";  
  message.addRecipient("You", "[email protected]");  
  message.text.content = msg.c_str();  

  if(!smtp.connect(&session)) return;  
  if(!MailClient.sendMail(&smtp, &message)) Serial.println("Error sending email");  
}  

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2. Raspberry Pi Pico W (Sensor/Motor Hub)

#include <WiFi.h>  
#include <HTTPClient.h>  

const char* ssid = "RobotAP";  
const char* password = "12345678";  
const char* serverURL = "http://192.168.4.1/data";  

#define GAS_PIN 26  
#define LDR_PIN 27  
#define PIR_PIN 28  
#define MOTOR_A1 5  
#define MOTOR_A2 6  
#define MOTOR_B1 7  
#define MOTOR_B2 8  

void setup() {  
  Serial.begin(115200);  
  pinMode(MOTOR_A1, OUTPUT);  
  pinMode(MOTOR_A2, OUTPUT);  
  pinMode(MOTOR_B1, OUTPUT);  
  pinMode(MOTOR_B2, OUTPUT);  

  WiFi.begin(ssid, password);  
  while(WiFi.status() != WL_CONNECTED) delay(500);  
}  

void loop() {  
  // Read sensors  
  int gas = analogRead(GAS_PIN);  
  int light = analogRead(LDR_PIN);  
  bool motion = digitalRead(PIR_PIN);  

  // Send to ESP32  
  HTTPClient http;  
  http.begin(serverURL);  
  http.addHeader("Content-Type", "application/json");  
  String json = "{\"gas\":" + String(gas) + ",\"light\":" + String(light) + ",\"motion\":" + motion + "}";  
  http.POST(json);  
  http.end();  

  // Motor control logic (add your commands)  
  delay(2000);  
}  

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3. Arduino Nano (Joystick Controller)

#include <SoftwareSerial.h>  
#include <WiFiEsp.h>  

SoftwareSerial espSerial(2, 3); // RX, TX  
const char* ssid = "RobotAP";  
const char* password = "12345678";  
const char* serverURL = "http://192.168.4.1/control";  

void setup() {  
  Serial.begin(115200);  
  espSerial.begin(9600);  
  WiFi.init(&espSerial);  

  if(WiFi.status() == WL_NO_SHIELD) {  
    Serial.println("WiFi shield not present");  
    while(true);  
  }  

  while(WiFi.begin(ssid, password) != WL_CONNECTED) delay(500);  
}  

void loop() {  
  int x = analogRead(A0);  
  int y = analogRead(A1);  

  WiFiEspClient client;  
  if(client.connect("192.168.4.1", 80)) {  
    String postData = "x=" + String(x) + "&y=" + String(y);  
    client.print("POST /control HTTP/1.1\r\nHost: 192.168.4.1\r\nContent-Length: " + String(postData.length()) + "\r\n\r\n" + postData);  
    client.stop();  
  }  
  delay(100);  
}  

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📌 Setup Instructions

1. ESP32:

   • Format SD card as FAT32.
   • Create Gmail App Password (Google Account → Security → App Passwords).

2. Pico W:

   • Use Arduino IDE with Raspberry Pi Pico W board support.

3. Testing:

   • Power ESP32 first → Connect Pico W/Joystick to RobotAP network.
   • Visit http://192.168.4.1 to monitor status.

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Here’s the simplified, clear hardware connections for ESP32, Raspberry Pi Pico W, and Arduino Nano Joystick setup. I’ll break it down

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1. ESP32 (Master Controller)

Component	ESP32 Pin	Purpose
NRF24L01 (CE)	GPIO4	Radio enable
NRF24L01 (CSN)	GPIO5	Chip select
NRF24L01 (SCK)	GPIO18	SPI clock
NRF24L01 (MOSI)	GPIO23	SPI data out
NRF24L01 (MISO)	GPIO19	SPI data in
Ultrasonic (Trig)	GPIO13	Trigger pin
Ultrasonic (Echo)	GPIO12	Echo pin
Servo Motor	GPIO27	Rotate sensor for mapping
GPS (TX)	GPIO16	Receive GPS data
GPS (RX)	GPIO17	Unused (just connect TX)
MPU6050 (SDA)	GPIO21	I2C data
MPU6050 (SCL)	GPIO22	I2C clock
SD Card (CS)	GPIO15	SD card select

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2. Raspberry Pi Pico W (Motor/Sensor Hub)

Component	Pico W Pin	Purpose
NRF24L01 (CE)	GP1	Radio enable
NRF24L01 (CSN)	GP0	Chip select
NRF24L01 (SCK)	GP2	SPI clock
NRF24L01 (MOSI)	GP3	SPI data out
NRF24L01 (MISO)	GP4	SPI data in
Motor A (IN1/IN2)	GP5/GP6	Left motor control
Motor B (IN1/IN2)	GP7/GP8	Right motor control
Gas Sensor (MQ-2)	GP26 (ADC0)	Gas detection (analog)
LDR	GP27 (ADC1)	Light sensor (analog)
PIR Motion	GP28	Motion detection (digital)

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3. Arduino Nano (Joystick Controller)

Component	Nano Pin	Purpose
Joystick 1 (X/Y)	A0/A1	X/Y axis analog input
Joystick 2 (X/Y)	A2/A3	X/Y axis analog input
NRF24L01 (CE)	D7	Radio enable
NRF24L01 (CSN)	D8	Chip select
NRF24L01 (SCK)	D13	SPI clock
NRF24L01 (MOSI)	D11	SPI data out
NRF24L01 (MISO)	D12	SPI data in

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4. Power Connections

• ESP32: Power via USB or 5V pin.
• Pico W: Power via USB or VSYS (5V).
• Motors: Use a separate 5V battery connected to the L298N motor driver.
• Sensors: Use the 3.3V pin for NRF24L01, MPU6050, and PIR.

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5. Key Notes

1. NRF24L01 Wiring:

   • VCC → 3.3V (NOT 5V!)
   • GND → Common ground.
   • Capacitor: Add a 10µF capacitor between VCC and GND for stability.

2. Motor Driver (L298N):

   • ENA/ENB → Connect to PWM pins (not needed for basic control).
   • IN1/IN2/IN3/IN4 → Connected to Pico W’s GP5-GP8.

3. Ultrasonic Sensor:

   • Use HC-SR04 (5V tolerant). Connect Echo to ESP32’s GPIO12.

4. GPS Module:

   • Only TX pin is needed (connects to ESP32’s GPIO16).

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6. Sensor Flow

• ESP32: Handles mapping, GPS, gyroscope, and email alerts.
• Pico W: Controls motors, gas/LDR/PIR sensors.
• Arduino Nano: Sends joystick commands via NRF24L01.

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