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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)
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
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)