red bull (dog) autonomous fire fighting agent the city the burning building battlefield new haven...
TRANSCRIPT
Red Bull (Dog)
Autonomous Fire Fighting Agent
The City The Burning Building
Battlefield New Haven a.ka. Where Yale Univ. is
Functions
• Follow lines ( Streets) toward a possible fire
• Park in front of the building• Use CMU Cam to find flame on
black background of building.• Aim water cannon and extinguish
Behaviors
• Line Following• Intersection Detection• Obstacle Avoidance• Tracking the fire• Arbitration• Targeting a fire on multilevel building• Extinguishing fire
Inside the BeastBattery Holder
Dual H-Bridge Mavrik IIb
LCD Display
Switchs (Board,Sensor, Servos)
Power Board
“The beast (I) likey Beyonce”
Sensor Arrays
Line-Following Sensor Array
•Forward Pair-Line Following
•Backward pair- Intersection Detection
Forward Pointing Sensor Array
•Pyroelectric Sensor
•Forward IR Sensor
FORWARD IR CHARACTERIZATION
0
100
200
300
400
500
600
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19
DISTANCE IN INCHES
IR V
ALU
E
Series2
Water Cannon IR Characterization
Lower minimum tilt angle
Higher minimum tilt angle
Future Work
• Better vision algorithm• BlueTooth Module communication• Second Agent• Trinity Fire Fighting Competition
Pyro Values
0
200
400
600
800
1000
1200
0 10 20 30 40 50 60 70 80 90 100 110 120 130 140 150 160 170 180
Angle in degs
Pyr
oel
ectr
ic V
alu
es
Pyro Values
Fire location=(Low Servo + High Servo) / 2
Previews