09-05-2012, 03:10 PM
FIRE FIGHTING ROBOT
[attachment=21689]
INTRODUCTION
'
The overall objective of the robot is to be able to navigate a robot through a standardized maze, detect fire, and extinguish it. To this end, there are 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 centred 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. With this robust design, our robot can move around the maze very efficiently. Finally, the overall task of the robot is to find the fire and extinguish it. The robot uses a combination of temperature and light sensors for this purpose. These systems guide the robot in its mission to be a successful fire fighter.
BLOCK DIAGRAM DESCRIPTION
a. MICRO-CONTROLLER PIC 16F877
We are using PIC 16F877 having 40 Pinout. PIC consists of Only 35 single-word instructions. All single-cycle instructions except for program branches, which are two- cycle. Operating speed: DC – 20 MHz clock input, DC – 200 ns instruction cycle. Up to 8K x 14 words of Flash Program Memory, Up to 368 x 8 bytes of Data Memory (RAM), Up to 256 x 8 bytes of EEPROM Data Memory.
POWER SUPPLY
A single +5V supply for the micro-controller and other circuits is derived from the unregulated 12V DC supply by means of a fixed voltage regulator.
. GSM MODEM
Designed for global market, SIM300 is a Tri-band GSM/GPRS engine that works on frequencies EGSM 900 MHz, DCS 1800 MHz and PCS 1900 MHz. SIM300 features GPRS multi-slot class 10/ class 8 (optional) and supports the GPRS coding schemes CS-1, CS-2, CS-3 and CS-4.
With a tiny configuration of 40mm x 33mm x 2.85mm , SIM300 can fit almost all the space requirements in your applications, such as smart phone, PDA phone and other mobile devices.
SENSOR SYSTEMS
Sensors are the eyes and ears of the robot. Without sensors, as with virtually every other system, the robot is useless. If no sensors are on the robot, the robot blindly follows its own will, often ending up in a heap of parts alongside a wall, at the bottom of a large pit, or well. Of course, there is a vested interest in keeping the robot intact and able to do its job, so it is very worthwhile to have a fully functional sensor system. All of the systems presented here have their strengths and weaknesses. While the electrical and functional aspects of the sensor system will be discussed in detail, the practical aspects of circuit board construction will be briefly analyzed near the end of this section.
. ZIGBEE MODULE
These are low power to medium power devices. They are suitable for adding wireless capability to any product with serial data interface. The modules require minimum power and provide reliable delivery of data between devices. The I/O interfaces provided with the modules help to directly fit into many industrial applications. The modules operate within the ISM 2.4GHz frequency band with IEEE 802.15.4 baseband. Here we are using Zigbee module for the communication between computer and the robot.
STEPPER MOTOR DRIVER
Dedicated integrated circuits have dramatically simplified stepper motor driving. Stepper motors can be divided into two basic types : unipolar and bipolar. A stepper motor moves one step when the direction of current flow in the field coil(s) changes, reversing the magnetic field of the stator poles. The drivers are designed for simple requirement
[attachment=21689]
INTRODUCTION
'
The overall objective of the robot is to be able to navigate a robot through a standardized maze, detect fire, and extinguish it. To this end, there are 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 centred 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. With this robust design, our robot can move around the maze very efficiently. Finally, the overall task of the robot is to find the fire and extinguish it. The robot uses a combination of temperature and light sensors for this purpose. These systems guide the robot in its mission to be a successful fire fighter.
BLOCK DIAGRAM DESCRIPTION
a. MICRO-CONTROLLER PIC 16F877
We are using PIC 16F877 having 40 Pinout. PIC consists of Only 35 single-word instructions. All single-cycle instructions except for program branches, which are two- cycle. Operating speed: DC – 20 MHz clock input, DC – 200 ns instruction cycle. Up to 8K x 14 words of Flash Program Memory, Up to 368 x 8 bytes of Data Memory (RAM), Up to 256 x 8 bytes of EEPROM Data Memory.
POWER SUPPLY
A single +5V supply for the micro-controller and other circuits is derived from the unregulated 12V DC supply by means of a fixed voltage regulator.
. GSM MODEM
Designed for global market, SIM300 is a Tri-band GSM/GPRS engine that works on frequencies EGSM 900 MHz, DCS 1800 MHz and PCS 1900 MHz. SIM300 features GPRS multi-slot class 10/ class 8 (optional) and supports the GPRS coding schemes CS-1, CS-2, CS-3 and CS-4.
With a tiny configuration of 40mm x 33mm x 2.85mm , SIM300 can fit almost all the space requirements in your applications, such as smart phone, PDA phone and other mobile devices.
SENSOR SYSTEMS
Sensors are the eyes and ears of the robot. Without sensors, as with virtually every other system, the robot is useless. If no sensors are on the robot, the robot blindly follows its own will, often ending up in a heap of parts alongside a wall, at the bottom of a large pit, or well. Of course, there is a vested interest in keeping the robot intact and able to do its job, so it is very worthwhile to have a fully functional sensor system. All of the systems presented here have their strengths and weaknesses. While the electrical and functional aspects of the sensor system will be discussed in detail, the practical aspects of circuit board construction will be briefly analyzed near the end of this section.
. ZIGBEE MODULE
These are low power to medium power devices. They are suitable for adding wireless capability to any product with serial data interface. The modules require minimum power and provide reliable delivery of data between devices. The I/O interfaces provided with the modules help to directly fit into many industrial applications. The modules operate within the ISM 2.4GHz frequency band with IEEE 802.15.4 baseband. Here we are using Zigbee module for the communication between computer and the robot.
STEPPER MOTOR DRIVER
Dedicated integrated circuits have dramatically simplified stepper motor driving. Stepper motors can be divided into two basic types : unipolar and bipolar. A stepper motor moves one step when the direction of current flow in the field coil(s) changes, reversing the magnetic field of the stator poles. The drivers are designed for simple requirement