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Using computers and microcontrollers in your robots Infrared and wireless communications techniques Keeping your robot from crashing Vision for your robot Preventing your robot from falling over (or at least knowing when it happens)
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Part 5 Computers and Electronic Control 34, Remote Control Systems 36, Collision Avoidance and Detection into things 37, Robotic Eyes 41, Experimenting with Tilt and Gravity Sensors
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veryone complains that a robot is good for nothin except, perhaps, providing its master with a way to tinker with gadgets in the name of science! But here s one useful and potentially life-saving application you can give your robot in short order: fire and smoke detection. As this chapter will show, you can easily attach sensors to your robot to detect flames, heat, and smoke, making your robot a kind of mobile smoke detector.
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Flame detection requires little more than a sensor that detects infrared light and a circuit to trigger a motor, siren, computer, or other device when the sensor is activated. As it turns out, almost all phototransistors are specifically designed to be sensitive primarily to infrared or near-infrared light. You need only connect a few components to the phototransistor and you ve made a complete flame detection circuit. Interestingly, the detector can see flames that we can t. Many gases, including hydrogen and propane, burn with little visible flame. The detector can spot them before you can, or before the flames light something on fire and smoke fills the room.
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650 FIRE DETECTION SYSTEMS
DETECTING THE INFRARED LIGHT FROM A FIRE
The simple circuit in Fig. 39.1 shows the most straightforward method for detecting flames. (See parts list in Table 39.1) You mask a phototransistor so it sees only infrared light by using an opaque infrared filter. Some phototransistors have the filter built in; with others, you ll have to add the filter yourself. If the phototransistor does not have an infrared-filtered lens, add one for the light to pass through. Place the transistor at the end of a small opaque tube, say one with a 1/4-inch or 1/2-inch I.D. (the black tubing for drip irrigation is a good choice). Glue the filter to the end of the tube. The idea is to block all light to the transistor except that which is passed through the filter. In the circuit, when infrared light hits the phototransistor it triggers on. The brighter the infrared source is, the more voltage is applied to the inverting input of the comparator. If the input voltage exceeds the reference voltage applied to the noninverting input, the output of the comparator changes state. Potentiometer R2 sets the sensitivity of the circuit. You ll want to turn the sensitivity down so ambient infrared light does not trigger the comparator. You ll find that the circuit does not work when the background light has excessive infrared content. You can t, for example, use the circuit outdoors or when the sensor is pointed directly at an incandescent light or the sun.
R1 10K 4 3
R3 10K 2
IC1 339 (1/4) Output
R2 10K
Infrared filter
FIGURE 39.1 A flame detector built around the LM399 quad comparator IC.
TABLE 39.1
PARTS LIST FOR FLAME DETECTOR.
IC1 R1 R2 R3 Q1 Misc.
LM339 Quad Comparator IC 10K resistor 10K potentiometer 10K resistor Infrared-sensitive phototransistor Infrared filter for phototransistor (if needed)
All capacitors have 10 percent tolerance unless noted; all resistors 1/4-watt.
USING A PYROELECTRIC SENSOR TO DETECT FIRE 651
Test the circuit by connecting an LED and 270-ohm resistor from the Vout terminal to ground. Point the sensor at a wall, and note the condition of the LED. Now, wave a match in front of the phototransistor. The LED should blink on and off. You ll notice that the circuit is sensitive to all sources of infrared light, which includes the sun, strong photolamps, and electric burners. If the circuit doesn t seem to be working quite right, look for hidden sources of infrared light. With the resistor values shown, the circuit is fairly sensitive; you can change them by adjusting the value of R1 and R2.
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