ECE 290 Senior Design I Autonomous Fire Robot

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ECE 290 Senior Design IAutonomous Fire Robot

• Advisor John Ayers
• Sponsor Department of Electrical/Computer
  Engineering

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Presentation Outline

• Introduction Sean Pow
• Summary Sean Pow
• Key Concerns Hau Truong
• Design Kenneth Cole
• Block Diagram Kenneth Cole
• Program Flowchart Kenneth Cole
• Budget Hau Truong
• Timeline Sean Pow
• Conclusion Sean Pow

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Summary

• The 9th Annual Trinity College Fire-Fighting
  Robot Contest will be on April 21, 2002.
• The goal of the contest and our project is to
  find and extinguish a candle placed within a
  simulated home environment.
• We are confident that our design will be a
  serious contender in this competition and even
  possibly win.

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Summary The Robot

• Autonomous system, self-controlled.
• Should not bump into walls or the candle.
• A challenging multidisciplinary project.

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Key Concerns

• Design Adaptability
• Environmental Adaptability
• Reliability
• Optimal Functionality
• Cost efficiency

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The Frame

• Circular for minimal turning radius
• Plexiglas platforms
• Base Platform
• Distance and Line detectors, Drive Motors,
  Wheels, and Batteries
• Center Platform Microcontroller and Drive
  Circuitry
• Top Platform Flame sensors and Fan

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Motors

• In-Place rotation to avoid walls and objects
• 2 DC Motor-driven wheels
• Reversible, high torque, low current, low
  voltage
• 2 Swivel wheels for stability
• Both motors driven by Dual Full-H Bridge chip
  UDN2916B

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Fire-Extinguishing

• DC Fan Motor Graupner model airplane motor
• High torque at high speed, high current, low
  voltage

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Wall and Object Detection

• 4 - SHARP GP2D02 Infrared Rangers
• Ability to determine position in arena
• Impervious to color and reflectivity of object
• 10cm (4") to 80cm (30")
• Serial 8-bit clocked output

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Flame Detection

• Hamamatsu UVTron Flame Detector
• Outputs pulse train with frequency corresponding
  to intensity of light
• Detects UV light
• Used to detect presence of flame
• Eltec Pyroelectric Sensor
• Outputs positive or negative voltage relative to
  motion of heat source left or right
• Responds to IR light
• Used to find location of flame

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Line Sensing

• White line will indicate room entry
• White circle will indicate 30cm circle around
  candle permitting fire extinguishing attempts
• QRB 1114 Phototransistor
• - Responds to reflectivity of object
• - Susceptible to ambient light
• - Mounted ¼ from floor for optimal SNR

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PIC Microcontroller

• Brains of the robot
• PIC 16F874
• Assembly language programming
• Flexibility
• 5-volt 25-mA high output
• Up to 8 analog inputs
• Pins as inputs or outputs
• Interface programming for threshold
  adaptation

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Block Diagram
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Program Flowchart
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Budget
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Timeline
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Conclusion

• We are on task and confident of satisfying
  proposed goals
• All components have been ordered, tested, and
  validated for their fundamental functional use
• Future work includes assembly, further testing,
  PIC programming, and construction of the test
  environment

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Questions? Comments?