Trinity College Fire Fighting Robot Contest Zach Fuchs

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.

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.

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

Floor Plan

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.

Solution Mobile, Robust Robotic Platform Sensor Array Modular Software

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

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

The Turret

CO2 System

IR Range Devices

System Diagram

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

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

Power Board 24 Volt Input Common Ground 5V Output Isolated 5V Output

Buzzer Detector

Software Details StateMachine Control Modules –GuideRight –GuideLeft –CenterFront –AvoidWall –GoToCandle

Software Flowchart

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.

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

Questions???