Fire-Extinguishing Autonomous Robot Smokey the BotCreator: 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 BotsFirebot – UF MIL, 2003

◦ Line following – CDS cells◦ Room finding – IR sensors◦ Flame detection – Camera

Marshall – Steven Logreira, UF EEL5934, 1997◦ Flame detection – IR sensors

Brave Little Roaster – David Meadows, IMDL Fall 2008◦ Flame detection – Hamamatsu UVTRON

Woody – Timothy Martin, IMDL Spring 2009◦ Flame detection – Wii remote (hacked)

My Approach

BehaviorsObstacle detection and

avoidance ◦Sonar sensors

Flame finding◦UVTRON

Flame tracking◦Software algorithm

Fire extinguishing◦Fans

Obstacle Detection & Avoidance

Maxbotix LV-EZ1 Ultrasonic Range Finder

www.sparkfun.com

• 2.2 V – 5.5 V, 2 mA typical draw

•Analog output proportional to distance

•Distance readings only reliable at 5+ V

Flame LocationHamamatsu UV TRON R2868 Flame Detector

Hamamatsu UVTRON C3704 Driving Circuit

www.hamamatsu.com

www.hamamatsu.com

•ON/OFF flame detector•Uses photoelectric and gas multiplication effects•400 V supply

•Supplies 300 V•Outputs 5 V square wave with 10 ms pulses

Mobile Platform

Motor Assembly

(a)12vdc 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

ProgressMobile 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?