Trinity College Fire Fighting Robot Contest

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Trinity CollegeFire Fighting Robot Contest

• Zach Fuchs

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Overview

• Objective Build an
• autonomous computer-
• controlled robot that can find its way through
  an arena that represents a model house, find a
  lit candle that represents a fire in the house,
  and extinguish the fire in the shortest time.

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Restrictions

• Robot must be autonomous.
• A robot may bump into or touch the walls of the
  arena as it travels, but it cannot mark, dislodge
  or damage the walls in doing so.
• The robot must, in the opinion of the judges,
  have found the candle before it attempts to put
  it out.
• Must fit in a box 31 cm long, 31 cm wide, and 21
  cm tall.

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Operating Modes

• Sound Activation Mode (.95)
• Extinguisher Mode (.85)
• Stairs Mode (.9)
• Uneven Floor Mode(.8)
• Total (.5814)

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Floor Plan
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Requirements

• Robot must navigate through the maze without
  sliding along the wall. The robot may bump into a
  wall, but may not slide along wall.
• Robot must identify the existence of a lit candle
  within a room.
• Once the robot has entered the room, it must
  approach the candle in a timely manner.
• Upon reaching the candle, the robot must
  extinguish the flame.

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Solution

• Mobile, Robust Robotic Platform
• Sensor Array
• Modular Software

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Robotic Platform

• Tank Tread Propulsion
• Good Traction
• Zero Turn Radius
• High Torque
• CO2 Extinguisher System
• Time Bonus

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Sensor Suite Details

• Hamamatsu Flame Detector
• Phototransistor Array
• Incremental Encoders
• IR Range Sensors
• Tilt Sensor

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The Turret
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CO2 System
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IR Range Devices
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System Diagram
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Main Controller Board

• AT89C51ED2
• Cyclone FPGA
• IR Emitter Drivers
• 24V 3A Drivers
• E-Mag Isolators
• Tilt Sensor

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Turret Board

• (3) 8-Channel A/D
• Photodetector Array
• (7) IR Range Sensor

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Power Board

• 24 Volt Input
• Common Ground 5V Output
• Isolated 5V Output

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Buzzer Detector
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Software Details

• StateMachine
• Control Modules
• GuideRight
• GuideLeft
• CenterFront
• AvoidWall
• GoToCandle

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Software Flowchart
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Results

• Robot navigates through the maze without sliding
  along the wall.
• Robot identifies the existence of a lit candle
  within a room.
• Once the robot has entered the room, it
  approaches the candle in a timely manner.
• Upon reaching the candle, the robot extinguishes
  the flame.

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Room For Improvement

• State Machine Needs Fine Tuning
• Range Sensor Adjustment when Candle is Present
• Dead Reckoning Algorithms
• Seal Leak in CO2 System
• Fine Tune Hamamatsu Flame Detector Algorithm

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Questions???