Josh LothianAdam Stanton

Team ίBurning Equalizer

The purpose of this project is to design a robot that can autonomously locate and extinguish a randomly placed fire in a residential environment when alerted by a fire alarm.

Problem Statement

Omnidirectional Electret Microphone Low Power Tone Decoder (LMC567)

PING)))™ Ultrasonic Distance Sensor Wall Follower, preferentially turning right

Skid steering using tank treads Tamiya Twin Motor Gearbox

UV sensor (to detect fire) UVTRON R9495

UVTRON C10423Computer fan (to extinguish fire)12V 1600mAH Rechargeable power supply

Ni-CD and NiMH Universal Battery Connector

Bumper Switches

Our Solution

System Diagram

Ultrasonic Sensors

UV Sensor w/ shield

Top view (sensors)

Top view (motors & fan)

DC motor gearbox

FanLine Sensor

5

Alarm Detect Flame Detect Obstacle Avoidance Extinguish Body

UVtron

Test

Distance

Detection Angle

Output

Code

Interpret Output

Wiring

Ping Sensor

Test

Distance

Wall Angle

Parallel Interference

Output

Code

Activate

Read Return

Wiring

Fan

Test

Distance

Active Angle

Code

Activate

Z-axis

Pivot

Pivot

Wiring

Platform

Mount

Alarm Detect

Flame Detect

Extinguish

Propulsion

Skid Steer

DC Motors

Power

Filter

Tone Decoder

Band Pass

Burning Equalizer

Legend

Adam

Josh

Both

Activation State Diagram

Pull in

Alarm Activated

Navigation Phase Start

Extinguish Phase

Navigation Phase

Stop

Tone Decoder = 1

Fire Flag Triggered

Fire Flag Reset

Return to Start

Modified Microphone, Filter and LMC567 Electrical Diagram

Navigation State Diagram

Forward

Align Line Sensors CCW 180°

CW 90°

CW 180°

CW 40°

CCW 80°

Fire = 0 Delay 1 sec

Delay 1 sec

Delay 1 sec

2 sec passed

Forward obstruction

No Obstruction

Black line detected

Delay 100ms

No line/no obstruction

Forward obstruction

No obstruction right

Arena Navigation

Rotate 90° CW

Rotate 90° CCW

Move Forward

1

2

3

4

5

6 Search Alcove From Entry – Rotate 180°

7

8

Return Path

10

Extinguishing Fire State Diagram

Search

Check UVTRON

Move Forward

Stop

Activate Fan

Delay 500ms Fire = 0

Fire flag Triggered Dist btwn pulses < ??ms

Delay 100ms

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Code: Determining Distance from PING Sensor for(;;) { PINGBIT = 0; //Create the trigger pulse for the PING PINGBITDD = OUTPUT; PINGBIT = 1; PINGBIT = 1; PINGBIT = 1; // about a 3 microsec pulse PINGBIT = 0; PINGBITDD = INPUT; //Now wait for the echo and time it. PING_Ticks = 0; PING_State = WAITING; do { Delay_tick(); PING_Ticks++; if (PING_State == WAITING){ if (PING_Ticks >= MAX_WAIT_TICKS) {PING_State = TIMED_OUT; PING_Ticks = 0;} if (PINGBIT == 1) {PING_State = RECEIVING; PING_Ticks = 0;}

Distance_oneway = (1130*0.5 * PING_Ticks ) / 1000; //assumes .5 millisec delay

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UVTRON Output Waveform

The closer the sensor is to the source of the flame, the shorter time interval between

pulses.

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Component Supply Voltages and Currents

Battery Pack charge amount = 1600mAH

Part Quantity Voltage (v) Current (mA)HC08 Micro Controller 2 3 3.5-5

Computer Fan 1 12 170DC Motor 2 6 35-800

PING Sensor 3 5 3Tone Decoder 1 2-9 0.3-1.3

UVTron w/C10423 1 12-24 4Microphone 1 1.5 0.5Motor Driver 1 5 24-36Total CurrentCharge Time

284.8mA-1830.8mA5.618h - 0.874h

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Parts List

Parts ListAmount Component Supplier Model No. Price per item3x PING)))™ Ultrasonic Distance Sensor VTC1x UVTRON Kit Acroname Robotics R345-UVTRON-PKG $891x Condenser Microphone RadioShack5x Low Power Tone Decoder LMC567 Jameco LMC567 $1.553x Contact Bumper Switches VTC2x HCS08 Microcontroller VTC1x Lynxmotion 12v 1600 mAH NiMH Rechargeable Battery RobotShop RB-Lyn-243 $29.951x L298 Dual H-Bridge Motor Driver VTC1x 12vdc Ni-CD & Ni-MH Universal Smart Charger Lynxmotion USC-02 $25.951x Lynxmotion Quick Connect Battery Connector RobotShop RB-Lyn-54 $2.501x Dual Motor Gearbox VTC2x Brushed DC motor RobotShop RB-Sbo-50 $1.66

Questions?