FireExtinguishing Autonomous Robot Smokey the Bot Creator Matthew
Fire-Extinguishing Autonomous Robot Smokey the Bot Creator: Matthew Bellman Intelligent Machine Design Lab: Spring 2010 Instructors: A. Antonio Arroyo, Ph. D. ; Eric M. Schwartz, Ph. D. University of Florida
Introduction Fact 1: Fire is dangerous. Fact 2: Human life is not expendable. Fact 3: Robot life is expendable! Therefore, robots should put out fires so human lives are not put at risk.
Other Fire-Extinguishing Bots �Firebot – UF MIL, 2003 ◦ Line following – CDS cells ◦ Room finding – IR sensors ◦ Flame detection – Camera �Marshall 1997 – Steven Logreira, UF EEL 5934, ◦ Flame detection – IR sensors �Brave Little Roaster – David Meadows, IMDL Fall 2008 ◦ Flame detection – Hamamatsu UVTRON �Woody – Timothy Martin, IMDL Spring ◦ Flame detection – Wii remote (hacked) 2009
My Approach
Behaviors �Obstacle detection and avoidance ◦ Sonar sensors �Flame finding ◦ UVTRON �Flame tracking ◦ Software algorithm �Fire extinguishing ◦ Fans
Obstacle Detection & Avoidance Maxbotix LV-EZ 1 Ultrasonic Range Finder • 2. 2 V – 5. 5 V, 2 m. A typical draw • Analog output proportional to distance • Distance readings only reliable at 5+ V www. sparkfun. com
Flame Location Hamamatsu UV TRON R 2868 Flame Detector • ON/OFF flame detector • Uses photoelectric and gas multiplication effects • 400 V supply www. hamamatsu. com Hamamatsu UVTRON C 3704 Driving Circuit • Supplies 300 V • Outputs 5 V square wave with 10 ms pulses www. hamamatsu. com
Mobile Platform
Motor Assembly (a) 12 vdc Gear Head Motor (b) Sabertooth Dual Channel Motor Controller (c) Motor mounts (d) 6 mm Hubs (e) 2. 5” Diameter Neoprene Foam Wheels www. lynxmotion. com
Progress �Mobile Platform Construction (100%) �Obstacle Detection & Avoidance (90%) ◦ Just integrated 2 more sonar ◦ Need to finish code for 3 sonar �Flame Finding (95%) ◦ Able to detect flame from up to 5 meters ◦ Need to implement field of view blocking �Flame Tracking (30% - code) �Flame Extinguishing (50% - fan)
Questions?
- Slides: 11