Smoke Eater

1
Smoke Eater

• Autonomous Fire Fighting Robot
• By
• David Morneault
• EEL 5666
• August 3, 2000

2
Robot Presentation

• Scope of the project
• Reasons for choosing this project
• My approach
• My accomplishments
• Developments for the future

3
Introduction

• If a fire starts in an industrial setting such as
  a warehouse how can it be eliminated in a timely
  manner?
• Cheaper and less damaging than conventional
  sprinkler systems
• Extinguish or control industrial fires where
  human presence is scarce.

4
Integrated System

• Motorola 68HC11 microprocessor
• 8 analog input ports
• 4 output ports

5
Diagram of the Integrated System
 
IR Detector (940nm) Proximity sensor
IR Detector (940nm) Proximity sensor
IR Detector (940nm) Proximity sensor
IR Detector (940nm) Proximity sensor
IR Detector (940nm) Proximity sensor
Front Center Bumper
      MTJPRO11 With 68HC11 Microprocessor And 32k
RAM
UV Tron Flame Detector
Front Right Bumper
UV Tron amplifier
Front Left Bumper
CdS Cell
Rear Bumper
Water Pump Extinguishes fires
Servo Controls nozzle
Left Motor
Right Motor
Relay (switch)
6
Mobile Platform

• Round body
• Easy to maneuver, wont get caught on corners
• Wheels are placed in the center
• One caster wheel in the back
• Stabilizer bar in the front

7
Actuation

• Two 100oz./in. hacked servos for the main motors
• Wheel hubs screw into the servo horns for more
  secure attachment
• One 22oz./in. servo for moving the nozzle up and
  down

8
Sensor Suite

• Flame Detector UV Tron
• Proximity Sensor IR Detectors and Emitters
• Bump Sensors Switches
• Line detector CdS cell

9
UV Tron

• Detects ultra-violet light
• Outputs a digital signal
• Approx. 6 - 10 feet detection range
• Angle of detection is about 35 40 degrees

10
Sensitivity

• Detects ultra-violet light within the range of
  185 - 260 nm
• Insensitive to visible light

11
Behaviors

• Roam through a building using proximity sensors
  and bump sensors to navigate
• Search for fires every 5 seconds by spinning 360
  degrees
• If a fire is found then it will proceed to
  extinguish it for 2 seconds
• If the fire is still burning then the robot will
  move forward and then spray it again.

12
Conclusions

• Mobile Autonomous robot was built to detect and
  extinguish fires
• This will be less damaging than a sprinkle system
  would be
• Can control or extinguish fires while help is on
  the way

13
Future Developments

• Improvements
• Aluminum body
• CO2 used to extinguish fires

14
The End