Iye
From HBRC WIki
Contents |
Overview
Iye is a custom made Trinity Firefighting Robot. He started as a collaborative project with his robot friend Styne. The projects quickly diverged.
Iye participated in his first competition at Robogames 2007. He will be at Robogames 2008 on June 14-15 in San Francisco.
Brains
Iye uses a PIC microcontroller (18F4550??). The board was designed by Bob Allen at OLogic.
Brawn
Iye's body is made using foam PVC plastic. The plastic is easy to cut and very lightweight. The 2 motors driving the robot are cheap Tamiya motors with gearboxes. The tail wheel is a custom built wheel by Bob Allen. Iye is equipped with a custom fan and Pyro holder also thanks to Bob Allen's help.
Sensors
Sharp QPD120 IR Sensors - for detecting walls
QRB1114 IR Sensor - for detecting black/white on the floor
Hamamatsu UVtron - for detecting the candle in the room (longer range)
Eltec PIR Pyroelectric sensor - to locate the flame
Microswitches - bump sensors to prevent getting stuck if Iye turns a corner too sharply
Intelligence
Programmed in C, Iye's first step was to follow a wall reliably and consistently. The wall following also must allow for turning 90 degree corners and 180 degree corners. This was implemented using PD control.
The second step was to navigate the house reliably, without getting stuck in doorways or on corners. (This would be less of an issue if he was round, but instead he is in the shape of an "eye" and has an open wheel design which must be taken into account.)
The third step was to detect which room contained the flame.
The fourth step was to pinpoint the location of the flame,
The fifth step was to navigate to it.
The sixth step was to put out the flame.
Skills Learned
- Surface mount soldering
- PID control (practically applied)
