Abstract:

The usage of infrared technology was previously only used for military use, such as heat
seeking missiles. It has now become a technology that is common for everyday use since it
has become less expensive.

The objective of this thesis is to find out if heat is an effective way of tracking objects. This
was made with the use of an IR-thermometer since it is able to measure heat from distances.
In order to do this, a robot that moves towards the warmest, detectable heat source was
constructed. The results of the robot’s performance clearly showed that the method has
potential since it could sense and track the object’s location.

Introduction:

1.1 Background:
Until only a few decades ago, infrared (IR) technology was mainly used for military means. It
was used for guiding weapons, such as missiles to its target. But today, heat tracking has
become more common, since the technology has become less expensive. The Tokyo Fire
Department has already started to use heat seeking robots that can operate in situations
that involves large-scale fires and hazardous material (Miyazawa, 2002) [1]. The problem is
that these are remote-controlled and have no way of detecting heat sources on their own.
Although those robots are rather simple and old, the idea of sending in autonomous robots
in life threatening situations is something that others also started to develop. Even though
the robot recently mentioned uses an IR-camera to detect the heat source.

1.2 Motivation:

Fire accidents are considered as one of the most devastating events which can result in
loss of lives, severe injuries and expensive property damages. In the year 2015,
approximately 89 firefighter deaths and 69,008 injuries were registered worldwide
while tackling the fire incidents [1]. Because of the speed and totality of the
destructive forces of fire, it constitutes one of the more serious threats. Vandalized or
environmentally damaged structures can be repaired and stolen objects recovered.
Items destroyed by fire, however, are gone forever. An uncontrolled fire can obliterate
an entire room's contents within a few minutes and completely burn out a building in
a couple hours.
 1.3 Objective:

The basic idea is to program the robot to respond a certain way to seek a heat or a fire.
Autonomous robots can act on their own, independent of any controller. The project is
designed to develop a heat seeking robot using IR thermometer module. The main
objective of this project is movement of the Robot in all directions finding the heat or
the fire. Applying this technology to robots would open up new ways for usage of
robots. It could mean sending in robots instead of humans to put out fires. An IR
thermometer is easier to apply to a less complex robot. An IR-thermometer is used to
find out the temperature of an object from a distance without any physical contact.

2. Requirements Specifications:

Marketing requirements Engineering requirements

1. The system should have higher 1. The system should have a 9V Battery .
accuracy.
2. System should be easy to follow the 2. The driver should be in range 5V-12V.
heat.

3. Should have low cost. 3. The project cost should not exceed
40kd.

3. Design Details:
3.1 Functional Decomposition:

This section will discuss the details of the project using block diagrams.

1. Level 0:

Fig 1 : Block diagram of level 0 of the project.

 2. Level 1:

Fig 2 : Block diagram of level 1 of the project.

3.2 Codes and Standers:

This section will discuss the most significant codes and standards that relevant to the
project. As a comparison between the microcontroller and the motors , the
microcontroller has a very low output current whereas the motor has a higher current
that means if we connect the motors directly to the microcontroller the result is not
working motors and destroyed the microcontroller due to the high current. The motor
driver needs from nine to twelve volt. The USB cable type A/B standard 2.0 cable [2].
The power supply needs from seven to twelve volt. Also, the data on the arduino an
int stores a sixteen bit value. In addition, the original arduino mega has ATmega6250
design. The programming language is the arduino which is a set of the C/C++
functions.

3.3 Realistic constraints:

The project should follow the constraints required . the system must use a mega
microcontroller to implement processing functions. Also, the system should use 9V
power supply. In addition, Development of the product should be
completed by the end of the fall semester. The project should deal with an arduino
programming to implement the code.