Autonomous Fire detection Autonomous Fire detection Robot Robot

Submitted by;Submitted by;

HITESH KUMAWATHITESH KUMAWAT

E.I.C.E.I.C.

44thth year year

IntroductionIntroduction

Our team designed and built a robot that Our team designed and built a robot that competed in the 12competed in the 12thth Annual Trinity College Annual Trinity College competition held in Hartford, CT from April 9-competition held in Hartford, CT from April 9-10, 2005.10, 2005.

This is a competition open to the public.This is a competition open to the public. The task of the robot is to find a flame and The task of the robot is to find a flame and

extinguish it as fast as possible.extinguish it as fast as possible.

Block Diagram Of Autonomous Block Diagram Of Autonomous Fire Detection RobotFire Detection Robot

Wall and White Line DetectionWall and White Line Detection We used 4 Sharp We used 4 Sharp

GP2D12GP2D12 Infrared Infrared Rangers to make sure Rangers to make sure that the robot does not that the robot does not hit the walls and can hit the walls and can detect doorways.detect doorways.

We used two We used two QRB1114 QRB1114 phototransistors to phototransistors to detect white lines and detect white lines and circles.circles.

Fire Detection

We used Hamamatsu UVTron to detect the presence of flame.

Fire Extinguisher

We used a universal We used a universal windshield water windshield water pump to put out the pump to put out the flame.flame.

The pump requires The pump requires 12 V and 1.8 A12 V and 1.8 A

Water tank

Nozzle

Water pump

DC Gear Head Motors

We used two DC gear head motors and two LMD18200T H-Bridges to control our robot

Microcontroller

OOPIC-II+ microcontroller 2 PWM output lines, 7 Analog-to-Digital

Input lines, 31 Digital Input and

Output lines. Programmable in C,

Basic or Java. We used Basic.

Algorithm

Problems Weight

Our frame was thicker than expected, which increased our weight significantly and caused our robot not to maneuver easily.

Our robot weighed 12 lbs and we decreased it to 10 lbs.

Problems (continued) H-Bridge

Our initial selection of H-Bridges could only handle 1.2 A of current, but our motors required up to 3.8 A. Since our robot was heavier than expected, the motors drew a lot of current.

No standard socket for this particular H-Bridge, therefore we used a standard circuit board to mount it. The pin spacing caused wires to overlap with each other and become loose during operation.

Problems (continued)

IR rangersWe found out that IR

rangers are very susceptible to noise and therefore required decoupling capacitors and different voltage regulators to ensure accurate readings.

Contest Results

Due to unforeseen circumstances, we were unable to qualify for the contest.During transportation, wiring in the H-Bridge

came loose and shorted out the PWM ports.

We estimate that if this problem had not occurred, we would have placed very high in the competition.Our robot takes a maximum of 55 seconds to put

out the flame.

BudgetDescription Quantity Amount

Lynxmotion DC Gear Motors 2 43.90

Rechargeable Batteries - 200

Water Pump 1 22

Castors and Lexan frame 2 120

OOPic-II microcontroller 2 120

Wheels 2 20

QRB1114 Free 4

UVTRON flame detector 1 65

Eltec E442-3 pyroelectric 1 64

Sharp GP2D12 IR rangers 5 95

Half H-Bridge 3 45

Miscellaneous - 250

TotalTotal $ 1048.90$ 1048.90

Conclusion

This project was very challenging and demanding, however we expanded our knowledge and skills as engineers.Such as:

Design and Building

Teamwork

Troubleshooting

THANK YOU

QUERIES