Final Presentation Fall 2016 Team 1717-Trinity Firefighting Robot - - PowerPoint PPT Presentation
Final Presentation Fall 2016 Team 1717-Trinity Firefighting Robot Bobby Barrett (Computer Engineering) Kevin Burke (Electrical Engineering) Connor McCullough (Electrical Engineering) Zach Rattet (Electrical Engineering) Overview of the Robot
Bobby Barrett (Computer Engineering) Kevin Burke (Electrical Engineering) Connor McCullough (Electrical Engineering) Zach Rattet (Electrical Engineering)
Trinity International Firefighting Robot Competition
extinguishing a fire represented as a candle
○ Once turned on, the robot must be self-controlled without any human interaction. ○ The robot may bump into or touch the walls as it travels, but it cannot mark, damage, or move the walls in doing so. ○ The movement of the robot must not damage the floor of the arena. ○ The robot cannot leave or drop any items in the area as it travels. ○ The robot must fit inside of a box with base dimension 31cm x 31cm and 27cm tall. ○ The robot may not separate into multiple parts. ○ There is no weight restriction. ○ The robot must have a carry handle. ○ The robot must have an arrow indicating front.
○ All robots must be sound activated for the competition. ○ The microphone must: ■ Be located on the top surface of the robot and be accessible from above. ■ Be less than 2cm below any other mechanical part. ■ Have a blue background ■ Have the abbreviation ‘MIC’ printed in a contrasting color adjacent to the microphone. ○ The microphone will be positioned 25mm away from the sound starting device.
○ Any Contest official may stop, by pulling the robot’s kill power plug (via remote, button, battery removal, etc…) if at any time if, in their opinion, the robot is performing or is about to perform any action that could be dangerous or hazardous to people, facilities, or other equipment.
○ Each robot must have a flame detect LED. This LED will turn on when your robot detects a
○ There are no sensor restrictions for the robot. ○ There are 4 different methods of extinguishing that are permitted: ■ (1) Air based extinguisher ■ (2) Carbon Dioxide extinguisher ■ (3) Water mist or spray ■ (4) Mechanical (ex: Wet Sponge)
Levels of Competition:
LEVEL 1 → Basic Configuration LEVEL 2 → 4 Possible Configurations
○ Fits competition design constraints ○ Modular Design ○ Lightweight
○ 60mm X 8mm ■ Hard plastic rim with rubber tire ○ 90mm X 8mm
○ No memory effect ○ Cost effective (i.e. size to capacity ratio) ○ Larger than LiPo
○ LiPo: 545g, 138mm & NiMH: 1091g, 305mm ○ Better energy density ○ Higher discharge current
Selection: LiPo
Volumetric and Specific Energy Densities for Lead Acid, NiCd, NiMH, and LiPo.
○ Low efficiency ○ No feedback
○ Feedback ○ Simple to control ○ Accelerates quickly
○ Feedback from encoders ○ Efficient ○ Two motors can be synchronized
Selection: DC Motor with Encoders
○ Most effective gas extinguishing method ○ Receives extra point in competition ○ Precise extinguishing of the candle possible with the heat map of the flame sensor. Innovations Hammerhead
excel for visual representation of heatmap
○ 16 MHz clock ○ 54 I/O pins ○ Directly controls motors and servos through PWM ○ Directly control overall robot
microphone startup, flame extinguishing, and interpretation of flame sensor data (I2C)
○ 1.2 GHz clock ○ 40 GPIO pins ○ Interprets ultrasonic sensor data and calculates motor commands.
○ Low cost, low resolution
○ Expensive, long processing time
○ Involves bumping into walls (not useful)
○ Can easily interface multiple sensors (5 or 6) ○ Easy to implement and read data ○ Low cost
➔ At distances ⅛ inch (0.3175 cm) or closer, the sensor data started to jump around and displayed the max range
○ Arbitrary start is optional for level 1 and level 2
○ Wall-following ○ Turn left/right when there is an obstacle
○ Most applicable approach to unknown environments ○ Kalman Filters ■ Long processing time ■ Robot can confuse landmarks easily in the maze
■ No mapping, need global map ■ Good in nonlinear environments ■ Can only determine robot position, requires path planning
○ Will help the robot return to starting position (extra points)
map
map that the robot is in
System Block Diagram