Final Presentation Spring 2017 Team 1717-Trinity Firefighting Robot - - PowerPoint PPT Presentation

Final Presentation

Spring 2017 Team 1717-Trinity Firefighting Robot

Bobby Barrett (Computer Engineering) Kevin Burke (Electrical Engineering) Connor McCullough (Electrical Engineering) Zach Rattet (Electrical Engineering)

Overview

• Rules & Regulations
• Hardware Design
• Flame Detection
• Fire Extinguisher
• Navigation Sensors
• Navigation Approach
• Microcontroller
• Budget
• Timeline

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Trinity International Firefighting Robot Competition

• When? → April 1st & 2nd, 2017
• Where? → Trinity College (Hartford)
• What? → Build an autonomous robot capable of navigating a maze and

extinguishing a fire represented as a candle

B

Competition Rules

• The Robot:

○ 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. ○ Sound Activation: the activation frequency is 3.8 kHz which will play for 5sec ○ Must have a kill switch mounted to the top of the robot

B

Competition Rules

• Arena:

○ Level 1 has one set area with one dog obstacle and a random candle location ○ Two possible starting positions, chosen by the official

B

Hardware Design

• Power:

○

LiPo Battery 16V, 5300mA/h

• Motors:

○ 12V DC motor with encoders

• Navigation:

○ Ultrasonic sensors (SRF-05)

• Processing:

○ Arduino Mega 2560

• Extinguishing:

○ CO2 bike pump ○ Linear actuator ○ 16x4 Thermal array sensor

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System Block Diagram

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16V

Basic Design Concept

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Sound Activation

• Adafruit MAX4466 Electret Microphone
• Compatible with Analog to Digital Converter (ADC) Built Into Arduino
• Uses FFT Library to Find Most Dominant Frequency
• When Amplitude Reaches Certain Set Range, ISR Triggered

(ADC_ISR_VECT)

• ISR Uses FFT Library to Get Most Dominant Frequency After ADC
• When Frequency is Within Activation Range, Robot Starts

B

Navigation

• Path Planning

○ Start position is known ○ Location is determined through landmarks and room positioning checks ○ Enables check of all four possible candle locations

• PID wall follow navigation

○ Implemented custom PID control to ensure robot stays on straight path ○ Makes decision based on path-planning of when to turn

• Encoder Feedback

○ Allows for precise control of motors ○ Used for room scanning and repositioning

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Navigation Path Planning - Path 1

1) Hallway 1 2) Hallway 2 - Towards Room 3 3) Room 3 - Enter and Scan 4) Room 3 - Exit 5) Hallway 2 - Towards Hallway 3 6) Hallway 3 7) Room 2 - Enter and Scan 8) Room 2 - Exit 9) Hallway 4 10) Room 1 - Scan 11) Hallway 5 12) Hallway 5 - Dog Check 13) Hallway 6 14) Room 4 - Enter 15) Room 4 - Scan

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Navigation Path Planning - Path 2

1) Hallway 1 2) Hallway 2 - Towards Room 3 3) Room 3 - Enter and Scan 4) Room 3 - Exit 5) Hallway 2 - Towards Hallway 3 6) Hallway 3 7) Room 2 - Enter and Scan 8) Room 2 - Exit 9) Hallway 4 10) Room 1 - Scan 11) Hallway 5 12) Hallway 5 - Dog Check 13) Hallway 5 - Exit 14) Hallway Between Room 1 & 4 15) Hallway 1 - Towards Room 4 16) Hallway 6 17) Room 4 - Enter and Scan

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Navigation: PID Wall Follow

C

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Flame Detection

• RoBoard RM-G212 16x4 Thermal Array Sensor
• 64 pixel infrared array
• Produces a map of heat values
• Temperature range: -20°C to 300°C
• 0.02 Degree Celsius uncertainty
• Supply voltage: 3V
• Field of View: 60° horizontal, 16.4° vertical

Z

• Example heat map of candle from 10cm

Candle Centering

• Max temperature value in each of the 16 columns was found
• Base comparison value of 50 degrees C for candle detection
• Columns 8 & 9 are the center of the heat map with column 1 being far left and

column 16 being far right

• Columns 1-7 were assigned weighted values to turn the robot left
• Columns 10-16 were assigned weighted values to turn the robot right
• Weighted values were applied to alter the number of pulses each motor received

based on the candle location

• This allowed the robot to “shuffle” into the center

B

Fire Extinguishing

• We used a CO2 pump activated by a linear actuator

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Devantech SRF05 Ultrasonic Range Finder

• Ranges 1cm to 4m
• Feedback is accurate until under ⅛ inch

○ Strategically placed on robot so there was no issue ○ Ensures the robot will never max out of range and hit an object

• Field of View is 55 Degrees

○ Mounted sensors on different levels for space issues ○ Prior testing determined height of sensors from ground was no issue ○ Rotated middle sensors to face straight out instead of at an angle

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Results

• Success: The robot is able to complete the maze and extinguish the candle
• Max time to check all rooms via the longest path (Path 2): 1 minute
• Trial runs at competition successful
• Unable to have successful run after the pump broke
• Final trail at the competition was almost a success. The candle was

detected but the wheel caught the side of the maze and caused the motors to completely stall.

C

Issues Encountered

• Ultrasonic sensors could not detect stuffed animal

○ Implemented IR Sensors

• Motors stalled at low duty cycle

○ Implement software stalling checks ○ Keep motors rotating above 35% during candle scan

• Active bandpass filter design was flawed

○ Used microphone that is compatible with arduino ADC

• CO2 pump broke 30 minutes before competition

○ Team 1718 lent us their pump

• Unable to idle robot greater than one minute

○ Replaced regulators and refined ADC interrupt code

C

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Order List

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Questions?

Model Fall 2016 Currently