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Autonomous Firefighting Robot Design Project

Develop a robot to find and extinguish fires in homes when alerted by alarms using various sensors and navigation methods.

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Autonomous Firefighting Robot Design Project

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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. Panasonic Omnidirectional Electret 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

  4. System Diagram Top view (sensors) Top view (motors & fan) Ultrasonic Sensors UV Sensors IR Sensor DC motor Fan

  5. 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

  6. Avoiding Obstacles

  7. State Diagram – Activation and Extinguishing of Fire Pull in Locate Fire Tone Decoder = 1 Fire < 1ft Alarm = On STOP Fire = 0 END Return to Start

  8. Search Fire = 0 Check UV Tron Forward Fire = 1 Forward Obstruction Extinguish Fire STOP

  9. State Diagram – 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°

  10. Electrical System Overview IR UV Ultra-Sonic Ultra-Sonic Fan and Servo Ultra-Sonic Ultra-Sonic HCS08 DC Motor DC Motor LMC567 Tone Decoder

  11. Modified Microphone, Filter and LMC567 Electrical Diagram

  12. Questions?

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