Introduction: Vehicle that autonomously searches for and detects fire Ø We created a fire truck that can drive around obstacles autonomously to detect sources of heat/light. • The vehicle (Smartfusion Board) makes decisions using input from the ultrasonic, heat and light sensors. Ø The vehicle can be controlled wirelessly using a N64 controller and X-bee. Ø On a LCD display we have a depiction of a pseudo-radar that represents what obstacles and sources of heat/light the vehicle sees.
Project Goals Ø Object avoidance: • Maneuvering around obstacles. Ø Light and heat detection • Steering towards light and distinguishing pure light from fire Ø Manual wireless control • Controlling the vehicle using N64 controller Ø Display • Monitoring the surrounding of the vehicle by visually displaying the sensor readings
ßN64 Controller
LCD Display à
Vehicle Solution & Components • X-Bee • Used to transfer data from N64 controller to vehicle and from vehicle to LCD display. • UART interface
• Analog Heat Sensors • Used to measure exceptionally high temperature in the environment • Take one snap shot of the surrounding and convert the temperature difference into analog outputs
• Ultrasonic Sensors • Used to measure distance and detect obstacles. • Took ~500 samples in specified direction and calculated average.
• Photo-Resistive Light Sensors • Used 5 light sensors to measure the intensity of light around the vehicle • Convert brightness into analog output by changing its own resistance
• Quadrature Encoder • Two signals generated with 90 phase difference • Using the lead/lag of the signals, we can control the rotation and movement of the axis (wheels) • Increments counter when moving forward. Decrements when moving backwards.
• H-Bridge • Used to enable control of high voltage using a lower voltage • Uses 3.3V from the board to control the magnitude and direction of voltage applied on the wheels