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Team ί Burning Equalizer. Josh Lothian Adam Stanton. 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.

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Josh lothian adam stanton

Team ί

Burning Equalizer

  • Josh Lothian

  • Adam Stanton


Problem statement

Problem Statement


Our solution

  • Panasonic Omnidirectional Electret autonomously locate and extinguish a randomly placed fire in a residential environment when alerted by a fire alarm.Microphone (WM-61A)

    • Low Power Tone Decoder (LMC567)

  • PING Ultrasonic sensors (for obstacle avoidance)

    • Wall Follower, preferentially turning right

  • Skid steering using tank treads

    • Twin Motor Gearbox

  • UV sensor (to detect fire)

    • UVTRON R2868

      • UVTRON Driving Circuit

  • Fan (to extinguish fire)

Our Solution


System diagram
System Diagram autonomously locate and extinguish a randomly placed fire in a residential environment when alerted by a fire alarm.

Top view (sensors)

Top view (motors & fan)

Ultrasonic Sensors

UV Sensors

IR Sensor

DC motor

Fan


Arena navigation
Arena Navigation autonomously locate and extinguish a randomly placed fire in a residential environment when alerted by a fire alarm.

1

Return Path

4

Search Alcove From Entry – Rotate 180°

6

2

5

3

Move Forward

8

7

Rotate 90° CW

Rotate 90° CCW


Avoiding obstacles
Avoiding Obstacles autonomously locate and extinguish a randomly placed fire in a residential environment when alerted by a fire alarm.


State diagram activation and extinguishing of fire
State Diagram – Activation and Extinguishing autonomously locate and extinguish a randomly placed fire in a residential environment when alerted by a fire alarm.of Fire

Pull in

Locate Fire

Tone Decoder = 1

Fire < 1ft

Alarm = On

STOP

Fire = 0

END

Return to Start


Josh lothian adam stanton

Search autonomously locate and extinguish a randomly placed fire in a residential environment when alerted by a fire alarm.

Fire = 0

Check UV Tron

Forward

Fire = 1

Forward Obstruction

Extinguish Fire

STOP


State diagram navigation and return
State Diagram autonomously locate and extinguish a randomly placed fire in a residential environment when alerted by a fire alarm.– Navigation and Return

Forward Obstruction

CCW 180°

END

Right 90°

Return to Start

Forward Obstruction

No Forward obstruction

No Forward obstruction

Move Forward

Fire = 0

If fire is detected, automatically move to extinguish phase

CW 180°


Electrical system overview
Electrical System Overview autonomously locate and extinguish a randomly placed fire in a residential environment when alerted by a fire alarm.

IR

UV

Ultra-Sonic

Ultra-Sonic

Fan and Servo

Ultra-Sonic

Ultra-Sonic

HCS08

DC Motor

DC Motor

LMC567 Tone Decoder


Modified microphone filter and lmc567 electrical diagram
Modified Microphone, Filter and LMC567 Electrical Diagram autonomously locate and extinguish a randomly placed fire in a residential environment when alerted by a fire alarm.


Questions
Questions? autonomously locate and extinguish a randomly placed fire in a residential environment when alerted by a fire alarm.