help in fire fighting robot
Iam astuden havig a graduation project about fire fighting robot· will serch about the fire and the fire is represented by a candle the cand wil be in any room and the robot will search about it and it must nor return to the room that it entered.
I am using CB220 and I dont·know any thing about how to program it to controll the robot to do the task , please help me.
I use IR sensors(infrared sensors) for front , right , left and Iam using line sensor and flame sensor to see the candle, else Iam using 2 DC motor with encoder.
if you can help me please do that
Thanks alot
my email: r_taiseer@hotmail.com
I am using CB220 and I dont·know any thing about how to program it to controll the robot to do the task , please help me.
I use IR sensors(infrared sensors) for front , right , left and Iam using line sensor and flame sensor to see the candle, else Iam using 2 DC motor with encoder.
if you can help me please do that
Thanks alot
my email: r_taiseer@hotmail.com
Comments
There are some Parallax tutorials for their Stamp processors that may be useful. Go to the main Parallax webpage and click on the Resources tab. In the list of links provided, click on Downloads, then click on Stamps in Class Downloads. You'll find a list of links to PDF files on all the tutorials. "Robotics with the BoeBot" is the one that discusses navigation using IR sensors.
Are you using the Parallax TSL1401-DB line sensor? If so, let me know, as there is something you can try to make the flame location more reliable. I've been working on different optics for this particular app, but there's a modification you can make on your own with some care.
-Phil
Phil Pilgrim (PhiPi) , yes i use TSL1401-DB line sensor , give me ur app & i will make modification . thanks
Because the line sensor sees in only one direction (i.e. in this, case, horizontal), it may miss seeing the flame if it is too high or too low. The trick is to replace the lens with a "slit lens" in order to increase the vertical field of vision. A slit lens is like a pinhole lens, except that it's long and thin instead of being a single, small hole.
You can make your own slit lens very easily. What you'll need is a small square (25mm x 25mm) of aluminum foil, an O-ring or small rubber band, and a razor blade or sharp X-acto knife. To begin, unscrew the lens from the line sensor's lens holder and set it aside. Then stretch the square of foil over the lensholder's opening, and secure it with the rubber band or O-ring. If there are any wrinkles in the foil, they can be smoothed by gently rubbing them out with your finger. The resulting contour will be slightly concave. Next, with the knife or razor blade, cut a short, straight slit in the center of the foil, as shown in the photo below:
The slit should be vertical (i.e. at right angles to the sensor axis). If you get it a little slanted, that's okay, since you can then just rotate the foil. If it's off center, though, you should start over with another piece of foil.
With the slit lens, you should be able to locate the candle flame more easily. The other advantage it has is that it does not block infrared the way the regular lens does. It may be a little tricky to judge your distance from the flame, and you will have to experiment to get it right. Typically, this can be done by measuring the width of the bright area: the wider it is, the closer you are.
At some point, I will make available some precision-cut slit lenses with a more secure mounting to the lens holder. But the foil lens should hold you in good stead until then.
-Phil
Post Edited (Phil Pilgrim (PhiPi)) : 7/18/2009 9:41:19 PM GMT
Good news: There is a large cash prize, so there is a lot of info on the web.
Bad news: There is a large cash prize, so folks aren't eager to share their secrets. I learned a lot because the winner one year was in our robotics club and he shared many software and hardware secrets. I think he was the first one or one of the first to use PID in the Boston contest.
Google "Boston fire fighting robot contest"
▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔
Richard Vannoy
Programming and Electronics Instructor
www.RichardVannoy.info
·