Firefighting Vehicle

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Firefighting Vehicle

• By Scott Benjamin
• Reji Jose

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Description Objective

• Navigate through 4x4 structure.
• Search for a lit candle.
• Extinguish by a fan onboard.

Reference Page 1, Appendix A
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Firefighting Vehicle
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Operation Range

• Motor operates between 4.5 12 volts and draws
  225mA at maximum efficiency.
• Operating voltage of battery 1.1 - 1.3V
• Operating current of H-Bridge 0.6 - 1A
• Operating voltage of HCS12 4.5 5.5V

Reference Pages 4, 8, 10, 12, Appendices B, C, D
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IR Sensors

• Sharp GP2D120
• Detects objects between 4cm-30cm

Reference Pages 9-11, Appendix D
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Phototransistor

• Panasonic PN168
• Wavelengths 600-1000nm 30 away

Reference Pages 12-13
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Motor Drive

• Current peaks at 275 mA
• each motor adds 2.2Kg-cm of torque
• Rotates at 1 revolution per second

Reference Pages 3-4, Appendix B
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System Initialization

• Wait half a second for sensor startup.
• Flash all LEDs once for 0.3 seconds.
• Keep all LEDs lit upon error or crash.

Reference Pages 15-16
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User Interface
Reference Pages 15-16
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Operating Restrictions

• Non overhead lighting may cause problems.
• Walls need to be at least 10 inches apart.

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Software Flowchart
Reference Pages 13-14
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Housing
Reference Appendix A
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Difficulties

• Sensors may not sense the obstacle within the
  given range.
• Sensing the flame and blowing it out.
• Make sure that the data from the IR sensor is
  read in correctly.
• Making sure power consumption is not too high.

Reference Pages 17
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Testing Procedure

• Test each component individually
• Motors
• IR Sensors
• Phototransistors
• H-Bridge
• Batteries
• Software
• Then test Integration

Reference Pages 4-5, 6-7, 8, 11, 13
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System Integration

• Each subsystem will already be tested for
  correctness
• Place vehicle in operating environment
• First test base functionality (find and
  extinguish candle)
• Simultaneously, ensure that the user interface
  functions properly
• Finally, confuse it

Reference Page 16
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Costs
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Questions?