Fire Fighting Robot

Abstract:

The overall objective of the robot is to be able to navigate a robot through astandardized maze, detect a candle flame, and extinguish it. To this end, there are four different subsystems that enable the robot to view its environs and aid it in maneuvering the maze to accomplish its task. In order to discover where the robot is relative to its environs, the wall following subsystem has been implemented. To aid the robot, there are white lines in the maze that signify doorways, the starting and finishing circle for the robot, and an area of radius one foot that is centered on the candle. In order to make the most use of these lines, there is a line detection subsystem to aid the robot in traversing the maze. A motor control system must be implemented to maneuver the robot through the maze based on its interpretation of its position. Distance from walls, white lines, and the distance to the fire determine the direction and speed that the wheels must turn. Our innovative altered differential drive system also adds more stability to our design. The center of gravity of the robot and the three points of contact with the floor imply that it is inherently difficult to make the robot turn over. With this robust design, our robot can move around the maze very efficiently. Finally, the overall task of the robot is to find the candle and extinguish it. The robot uses two types of systems in order to detect the flame. First, for long-distance flame detection, there is a fire ranging sensor. While this system is very effective for this application, it has a narrow beam width and may be too unreliable to use for short- and medium-range flame detection. In this case, we have implemented another flame sensor that is based on a radar system firefighter.

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