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NAVIGATION
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by exploring the environment over a period of time. Industrial robots typically require that the map be created using a CAD program and the structure and objects within it very accurately rendered. The introduction of new objects into the environment can drastically decrease the accuracy of map matching, however. The robot may mistake a car for a foot stool, for example, and seriously misjudge its location.
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33.9 From Here
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To learn more about . . . Using computers and microcontrollers in your robots Infrared and wireless communications techniques Keeping your robot from crashing into things Vision for your robot Preventing your robot from falling over Read 14, Computer Peripherals 16, Remote Control Systems 30, Object Detection 32, Robot Vision 35, Experimenting with Tilt and Gravity Sensors
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CHAPTER
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FIRE DETECTION SYSTEMS
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veryone complains that a robot is good for nothing 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 into a mobile smoke detector.
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34.1 Flame Detection
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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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34.1.1 DETECTING THE INFRARED LIGHT FROM A FIRE
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The simple circuit in Fig. 34-1 shows the most straightforward method for detecting flames. (See parts list in Table 34-1.) You mask a phototransistor so it sees only infrared light by
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FIRE DETECTION SYSTEMS
R1 10K 4 3
R3 10K 2
IC1 339 (1/4) Output
R2 10K
Infrared Filter
FIGURE 34-1 A flame detector built around the LM399 quad comparator IC.
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- or 1 2-in 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. If you are looking for an infrared filter, a low-cost one that you can use is a piece of overexposed film negative. While digital cameras are becoming very popular, there are still a lot of film cameras being used and you should be able to get a scrap of processed overexposed film negative from a photo developer. 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 when the sensor is pointed directly at an incandescent light or the sun.
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