Emina Hctaw

Design

For the chassis design we had 2 DC motors connected on a circular aluminum base, with two wheels mounted front and rear to keep the robot level. Mounted on the top center is a hexagonal tower for the phototransisters. A mounting frame for the Fan is located just in front of the tower. And the circuits are mounted vertically either side of the tower.

For the collision avoidance design we used 3 Proximity Sensors from Sharp (the GP2D120). These were mounted on the front of the robot.

For the Fire Detection design we created a hexagonal housing prism for 6 phototransistors. This housing was placed on top of a tower on the robot at a height where it could detect the flame. The phototransisters were placed on each face of the hexagon so we could know the direction of the flame.

For the controller design we used 4 PIC16F877A to control the robot. We had 4 for each section that made up the bot, 1 to receive data from the proximity sensors, another to collect data from the phototransisters, another to control the motors, and the last to use the data from the sensors and send the response to the motors

To put out the fires we used a fan driven by a DC motor. This was controlled by a relay and set to go for a period of time when the front panel of the fire detection detected a flame.