Fire Fighting Robot Team Delta

1
Fire Fighting Robot Team Delta

• Final Presentation
• December 3, 2004

2
Team

• Team Members
• Altin Dabulla
• Richard Liang
• Luis Cruz
• Advisor
• Dr. John Ayers
• Our project is sponsored by the ECE Department

3
Introduction

• Our team will design and build a robot to compete
  in the 12th Annual Trinity College competition
  held in Hartford, CT from April 9-10, 2005.
• This is a competition open to the public.
• The task of the robot is to find a flame and
  extinguish it as fast as possible.

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Competition

• There are 5 divisions
• JuniorMiddle School students and below
• High SchoolHigh School students
• SeniorCollege students
• WalkingAny robot that walks
• ExpertIndustry professionals
• Scoring
• Complete 3 successful runs with the fastest
  time, time reduction in more difficult operating
  modes, such as Clutter, Furniture, Uneven floor
  mode and Sound Activation

5
Our Design

• We will compete in Senior Division using sound
  activation in the unwired mode and return to home
  base after extinguishing flame.
• Robot must be smaller than 31 cm wide by 31 cm
  long and 21 cm high.
• New challenge go over staircase.

6
Standard Arena Layout
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Staircase
The new challenge this year
8
Components

• DC gearhead motors
• Frame
• Wheels
• Flame Extinguisher
• Sensors
• Power supply
• Microcontroller

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DC gearhead motors

• DC gearhead motors from Lynxmotion
• Torque of 3.5 kg-cm and speed of 291 rpm at 7.2
  volts.
• DC motors vs. Stepper motors
• have more torqueto go over the staircase, and
  better speedto complete the trial faster.
• Motors will run independently of each other.

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Frame

• Frame will be made from Lexan, which is sturdy,
  inexpensive, lightweight and easy to work with.
• Round design for our frame, as it is easier to
  maneuver in the arena.
• Two or three levels, but wont exceed height of
  21 cm.

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Fire Extinguisher

• Fan is used to blow air to put out the fire but
  time deduction for other means.
• We are researching the use of a car windshield
  pump to spray water.

12
Design Layout
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IR rangers

• We will use the Sharp GP2D02 to make sure that
  the robot does not hit the walls and can detect
  doorways.
• Use 2 rangers in front and 3 for the other sides
  for a total of 5.
• Read from 10 to 80 cm and the output is provided
  to the microcontroller in analog form.
• We chose Sharp because it requires about 25 mA
  when on and more cost efficient than Sonar.

14
Hamamatsu UVTron Flame Detector

• Can detect UV light over 5 meters away
• Spectral sensitivity of 185 to 260 nm (band of
  wavelength for which UV rays emit from flame)
• Not effective in pinpointing the exact location
  of the flame

15
Eltec E442-3 Pyroelectric Sensor

• Heat differential sensor
• Can detect a heat source that emits IR wavelength
  of 7 to 16 um (band of UV wavelength which is
  emitted from the candle flame)

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White Line Sensors

• Placements of white line in the Arena
• Home Base
• 30 cm from the candle
• Entrance to a room
• QRB 1114 phototransistor
• Sense reflection of white line
• Nearly insensitive to light
• PN168 phototransistor
• Sense change in reflectivity of object

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Sound Activation

• Buzzer
• 3.5 kHz piezoelectric buzzer
• Sound Detection
• Electret Microphone
• This microphone captures sounds.
• Tone Decoding
• LM567 tone decoder
• Can detect a 3.0 kHz to 4.0 kHz sound signal by
  comparing the input signal to an internal
  oscillator

18
Power Supply

• Use of 2 rechargeable battery packs to supply our
  microcontroller and motors to avoid interference
  between the microcontroller and motors.

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Microcontroller

• OOPIC-R microcontroller
• We chose this microcontroller because
• Easy to program in C
• 2 PWM outputs
• Over 4000 lines of instructions
• 31 I/O ports

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Algorithm
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Budget
Description Quantity Amount
Lynxmotion DC Gear Motors 2 43.90
Rechargeable Batteries - 100
Castors and Lexan frame 2 70
OOPic-R microcontroller 2 80
Wheels 2 20
QRB1114 or PN168 2 4
UVTRON flame detector 1 65
Eltec E442-3 pyroelectric 1 64
 Omnidirectional Microphone 1 2
LM567 tone decoder 1 2
Sharp GP2D02 IR rangers 5 95
Miscellaneous - 300
Total 845.90
22
Timeline
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Questions