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Josh Lothian Adam Stanton

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

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  1. Team ί Burning Equalizer • Josh Lothian • Adam Stanton

  2. 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

  3. Omnidirectional Electret Microphone (to sense alarm) • 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 C10423 • Computer fan on servo (to extinguish fire) • Rechargeable power supply • Bumper Switches • 3x Line Sensors • 2x HCS08 Microcontrollers Our Solution

  4. System Diagram Top view Ultrasonic Sensors UV Sensor w/ shield Line Sensor Fan DC motor gearbox UV Sensor Shield

  5. Activation State Diagram Pull in

  6. Modified Microphone, Filter and LMC567 Electrical Diagram

  7. Navigation State Diagram

  8. Arena Navigation 1 Return Path 4 Search Alcove From Entry – Rotate 180° 6 2 5 3 Move Forward 8 7 Rotate 90° CW Rotate 90° CCW

  9. Extinguishing Fire State Diagram

  10. Obstacle Avoidance - Determining Distance from PING Sensor

  11. UVTRON Output Waveform The closer the sensor is to the source of the flame, the shorter time interval between pulses.

  12. Component Supply Voltages and Currents Battery Pack charge amount = 1600mAH

  13. Parts List

  14. Questions?

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