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Trinity College Fire Fighting Robot Contest

Trinity College Fire Fighting Robot Contest. Zach Fuchs. Overview. Objective – Build an autonomous computer-

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Trinity College Fire Fighting Robot Contest

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  1. Trinity CollegeFire Fighting Robot Contest Zach Fuchs

  2. 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.

  3. 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.

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

  5. Floor Plan

  6. 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.

  7. Solution • Mobile, Robust Robotic Platform • Sensor Array • Modular Software

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

  9. Sensor Suite Details • Hamamatsu Flame Detector • Phototransistor Array • Incremental Encoders • IR Range Sensors • Tilt Sensor

  10. The Turret

  11. CO2 System

  12. IR Range Devices

  13. System Diagram

  14. Main Controller Board • AT89C51ED2 • Cyclone FPGA • IR Emitter Drivers • 24V 3A Drivers • E-Mag Isolators • Tilt Sensor

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

  16. Power Board • 24 Volt Input • Common Ground 5V Output • Isolated 5V Output

  17. Buzzer Detector

  18. Software Details • StateMachine • Control Modules • GuideRight • GuideLeft • CenterFront • AvoidWall • GoToCandle

  19. Software Flowchart

  20. 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.

  21. 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

  22. Questions???

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