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Villanova Fire-Bot

Villanova Fire-Bot. EE: Myles Durkin ME: Steve Kropp, Brian Lepus, Kevin McHugh, Ryan Ehid. Motivation. 20 minutes of Burn Time Roofs will collapse Every 32 minutes Someone is injured in a Fire Every 162 minutes Someone is killed in a Fire In 2007 118 Fire Fighters were killed

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Villanova Fire-Bot

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  1. Villanova Fire-Bot EE: Myles Durkin ME: Steve Kropp, Brian Lepus, Kevin McHugh, Ryan Ehid

  2. Motivation • 20 minutes of Burn Time • Roofs will collapse • Every 32 minutes • Someone is injured in a Fire • Every 162 minutes • Someone is killed in a Fire • In 2007 • 118 Fire Fighters were killed • EVERY SECOND COUNTS!!!

  3. Purpose • Quickly search through a building • Identify the source of the fire • Extinguish Fire • Transmit the information • Video, Proximity Sensors, Thermal Sensors

  4. Design Approach • Fall Semester • Initial Prototyping • Story Board • C programming • Test I/O – Push Buttons/Wire • Sensors • Output Analysis • Set into a Comparator Circuit • Adjust Threshold with Potentiometer • Test I/O with Sensor • Final Prototype

  5. Design Approach • Spring Semester • Modify Design • Adjust circuit for User input as well • Provide the power needed for ME’s design • Install Camera • Transmit data from User->Robot->User • Final Product • Test control systems

  6. Methodology IR Proximity Sensors Input from 4 sensors Temperature Sensors Input-Front and Back Microcontroller Left Motor Microcontroller Right Motor Microcontroller Crane Microcontroller Fire Extinguisher Full H-Bridge Full H-Bridge Lift/Lower Treads Left Motor – Forwards/Backwards Right Motor – Forwards/Backwards

  7. Deliverables • Autonomous • Flame Detector • Detects flame • Extinguishes flame with fan • Climb over Obstacles • Integrated Circuit

  8. Motor/Extinguishing Controller Comparator - Front Comparator - Temp Vdd Comparator -Left Comparator - Bottom PIC16F684 1 – Vdd Vss – 14 2 – RA5 RA0 – 13 3 – RA4 RA1 – 12 4 – RA3 RA2 – 11 5 – RC5 RC0 – 10 6 – RC4 RC1 – 9 7 – RC3 RC2 – 8 Comparator - Right Comparator - Rear Full H-Bridge Crane Full H –Bridge Left Motor Fire Extinguisher Full H-Bridge Right Motor

  9. Motor/Extinguishing Controller Robot Moving To the Right? To the Left? No Yes No Detects Flame? Put out Flame Yes Yes Turn Right Turn Left No To the Right? To the Left? Object to the Front? No Keep Moving No No Yes Yes Yes Turn Right Turn Left To the Rear? Yes No Stop/Operate Crane Reverse

  10. Comparator

  11. Comparator 10 k ohm 10 k ohm Sensor 2 8 7 LM311 3 3.9 k ohm 4 1 10 k ohm pot

  12. Full H-Bridge

  13. Full H-Bridge 2N3906 2N3906 • 2N3906 – NPN BJT • 2N3904 – PNP BJT • 1N914 – Switching Diode 1N914 2N3904 2N3904

  14. Schedule

  15. Prototype Circuit

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