Team Roboboi - The intelligent UV sanitization Robot:

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Published August 30, 2020 © CERN-OHL2

Roboboi - The intelligent UV sanitization Robot

Roboboi, where smartness meets innovation to keep you safe 24/7

IntermediateFull instructions providedOver 8 days1,125

Roboboi - The intelligent UV sanitization Robot

Things used in this project

Hardware components

Arduino UNO

Servo Module (Generic)

DC motor (generic)

Jumper wires (generic)

SparkFun Full-Bridge Motor Driver Breakout - L298N

Ultrasonic Sensor - HC-SR04 (Generic)

USB Cable Assembly, USB Type A Plug to Micro USB Type B Plug

Zener Single Diode, 11 V

Capacitor 100 µF

resistors - assorted

Resistor 10k ohm

LED (generic)

pneumatic wheel

Caster wheel

Battery LC-P12200BP

Hardware, Screw & Clip Nut

aluminium rod

Software apps and online services

Arduino IDE

Autodesk Fusion

SolidWorks

Hand tools and fabrication machines

3D Printer (generic)

Laser cutter (generic)

Hot glue gun (generic)

Multitool, Screwdriver

Helping Hand Tool, with Magnifying Glass

Drill / Driver, Cordless

spanner

Story

i) UV-C Dose and time to kill dose:

The Roboboi-UVC Germicidal robot uses two Philips TUV 64 T5, equipped with an electronic HF ballast, as its primary UV-C source. The T5 uses a double cap single pin electronic ballast, ensuring low supply voltage for operation and an instantaneous light-up time, while also eliminating any stroboscopic effect for a continuous UV irradiation.

The chosen lamp not only gives an excellent lifespan (estimated at 9000h) for reliable operations, the UV-C values irradiated, as shown, shows an excellent dose vs time values.

This not only provides with a high kill time (with threshold values reaching just in 60 seconds at 1m), allowing faster robotic operations, but given the current situation, shows promising results to kill SARS-CoV-2 with a 90% efficiency.

ii) Power Source:

The unit is powered by a Panasonic 200Ah battery, giving good operation hours of 3hr plus operation time.

iii) Safety/UX features

To make most out of the product, the Roboboi UVC Germicidal robot boasts of a plethora of safety as well as other features to make its application as efficiently as possible:

Battery Level Indicator: To prolong battery life as well as maximise efficiency, a low power, ‘always on’ battery level indicator is present on the body of the robot, and utilises zener diodes to achieve operation.

Battery Level Indicator: To prolong battery life as well as maximise efficiency, a low power, ‘always on’ battery level indicator is present on the body of the robot, and utilises zener diodes to achieve operation.

If it has a breakdown voltage of 5.1V, after 5.1V Or greater is applied to it, it will conduct current across it which can then power on a load. When the voltage reaches above the threshold of 5.1V, the diode conducts current across and lights up the LED indicating the voltage level. Zener diode can be used to produce a stabilized voltage output with low ripple under varying load current condition. By passing a small current through the diode from the source, the Zener diode will conduct sufficient current to maintain a voltage drop of output voltage. This can maintain a constant DC output voltage across the load in spite of variations in the input voltage or changes in the load current.

Enclosed lamp chamber : To avoid shattered glass to enter the body and disrupt other peripherals in case of an accident, the lamp chamber is constructed out of shatterproof fibre glass, and has no access to the chamber below. The lamp chamber can be accessed from the top removable lid. This not only allows easy removal of lamp shards in a mishap, direct access to only the lamps gives the user freedom to change the lamps, should they need to, on their own.

Enclosed lamp chamber : To avoid shattered glass to enter the body and disrupt other peripherals in case of an accident, the lamp chamber is constructed out of shatterproof fibre glass, and has no access to the chamber below. The lamp chamber can be accessed from the top removable lid. This not only allows easy removal of lamp shards in a mishap, direct access to only the lamps gives the user freedom to change the lamps, should they need to, on their own.

Additionally, a rubber gasket can also be installed on the removable lid, on request. This provides further protection from mild splashes and spills to enter the chamber.

App UI

App UI

Sparse use of custom materials and peripherals

Sparse use of custom materials and peripherals

iv) Autonomous area mapping

Wen used an innovative Arduino setup for mapping.

A comparison among the proposed product and leading existing uv robots can be seen on the QFD chart below:

Summary:

The following list stacks up our proposed product with the required parameters:

Schematics

Code

//AFMotor Library https://learn.adafruit.com/adafruit-motor-shield/library-install //
//NewPing Library https://github.com/livetronic/Arduino-NewPing//
//Servo Library https://github.com/arduino-libraries/Servo.git //
#include <AFMotor.h>
#include <NewPing.h>
#include <Servo.h>
#define TRIG_PIN A0
#define ECHO_PIN A1
#define MAX_DISTANCE 200
#define MAX_SPEED 30 // sets speed of DC motors
#define MAX_SPEED_OFFSET 5
NewPing sonar(TRIG_PIN, ECHO_PIN, MAX_DISTANCE);
AF_DCMotor motor1(1, MOTOR12);
AF_DCMotor motor2(2, MOTOR12);
AF_DCMotor motor3(3, MOTOR34);
AF_DCMotor motor4(4, MOTOR34);
Servo myservo;
boolean goesForward=false;
int distance = 100;
int speedSet = 0;
void setup() {
 myservo.attach(10);
 myservo.write(115);
 delay(1750);
 distance = readPing();
 delay(300);
 distance = readPing();
 delay(300);
 distance = readPing();
 delay(300);
 distance = readPing();
 delay(300);
}
void loop() {
int distanceR = 0;
int distanceL = 0;
delay(60);
if(distance<=30)
{
 moveStop();
 delay(200);
 moveBackward();
 delay(500);
 moveStop();
 delay(500);
 distanceR = lookRight();
 delay(500);
 distanceL = lookLeft();
 delay(500);
 if(distanceR>=distanceL)
 {
 turnRight();
 moveStop();
 }else
 {
 turnLeft();
 moveStop();
 }
}else
{
 moveForward();
}
distance = readPing();
}
int lookRight()
{
 myservo.write(50);
 delay(600);
 int distance = readPing();
 delay(80);
 myservo.write(115);
 return distance;
}
int lookLeft()
{
 myservo.write(170);
 delay(600);
 int distance = readPing();
 delay(80);
 myservo.write(115);
 return distance;
 delay(50);
}
int readPing() {
 delay(100);
 int cm = sonar.ping_cm();
 if(cm==0)
 {
 cm = 250;
 }
 return cm;
}
void moveStop() {
 motor1.run(RELEASE);
 motor2.run(RELEASE);
 motor3.run(RELEASE);
 motor4.run(RELEASE);
 }

void moveForward() {
if(!goesForward)
 {
 goesForward=true;
 motor1.run(FORWARD);
 motor2.run(FORWARD);
 motor3.run(FORWARD);
 motor4.run(FORWARD);
 for (speedSet = 0; speedSet < MAX_SPEED; speedSet +=1)
 {
 motor1.setSpeed(speedSet);
 motor2.setSpeed(speedSet);
 motor3.setSpeed(speedSet);
 motor4.setSpeed(speedSet);
 delay(10);
 }
 }
}
void moveBackward() {
 goesForward=false;
 motor1.run(BACKWARD);
 motor2.run(BACKWARD);
 motor3.run(BACKWARD);
 motor4.run(BACKWARD);
 for (speedSet = 0; speedSet < MAX_SPEED; speedSet +=1)
 {
 motor1.setSpeed(speedSet);
 motor2.setSpeed(speedSet);
 motor3.setSpeed(speedSet);
 motor4.setSpeed(speedSet);
 delay(10);
 }
}
void turnRight() {
 motor1.run(FORWARD);
 motor2.run(FORWARD);
 motor3.run(BACKWARD);
 motor4.run(BACKWARD);
 delay(600);
 motor1.run(FORWARD);
 motor2.run(FORWARD);
 motor3.run(FORWARD);
 motor4.run(FORWARD);
}
void turnLeft() {
 motor1.run(BACKWARD);
 motor2.run(BACKWARD);
 motor3.run(FORWARD);
 motor4.run(FORWARD);
 delay(600);
 motor1.run(FORWARD);
 motor2.run(FORWARD);
 motor3.run(FORWARD);
 motor4.run(FORWARD);
}

#include "Servo.h"

// Motors
Servo motor1;
Servo motor2;

// Rotary Encoders
int encoderAPin = 4;              //Left      // pin for the rotary encoderA
int encoderBPin = 2;              //Right     // pin for the rotary encoderB
int encoderAPosition = 0;                     // position counter for encoderA
int encoderBPosition = 0;                     // position counter for encoderB
int signalAInput1;                             // signal input 1 for encoderA
int signalAInput2;                             // signal input 2 for encoderA
int signalBInput1;                             // signal input 1 for encoderB
int signalBInput2;                             // signal input 2 for encoderB



// robot location service
// 0 is up
// 1 is right
// 2 is down
// 3 is left
int robotDirection = 2;

// this is the coordinates in the grid of where the robot is
// it is also the x and y indexes in the array.
// remember that the array starts at index 0.
int xcoordinate = 2;
int ycoordinate = 1;

// ultrasonic pins
const int Trig_pin =  5;  // pin for triggering pulse    INPUT
const int Echo_pin = 6;   // pin for recieving echo      OUPUT
long duration;            // how long it takes for the sound to rebound


// motor pins
const int Motor1Pin = 9;  // Left side
const int Motor2Pin = 10; // right side

// the array that it tracks with
// this can be an array of any size
// just make sure that the robot has a free space to move to from its initial position.
int arraything [6] [6] =
{ 
  {    1,1,1,1,1,1    }
  ,
  {    1,1,0,1,0,1    }
  ,
  {    1,1,0,1,0,1    }
  ,
  {    1,1,0,1,0,1    }
  ,
  {    1,1,0,1,1,1    }
  ,
  {    1,1,1,0,1,1    }
};



void setup () {
  // Rotary encoder
  pinMode (encoderAPin, INPUT);
  pinMode (encoderBPin, INPUT);
  Serial.begin(9600);
  Serial.println ("Starting now...");
  \

  // ultrasonic
  //  pinMode(Trig_pin, OUTPUT);        // initialize the pulse pin as output:
  //  pinMode(Echo_pin, INPUT);       // initialize the echo_pin pin as an input:


  // motorsmmmmmmmmm
  motor1.attach(Motor1Pin);
  motor2.attach(Motor2Pin);

}


// In English, this program sees if there is something in front of it.
// If no, it moves straight. If yes, it checks its Right.
// If its Right is free, it turns that way, or else, it checks its Left.
// If its Left is free, it turns that way, or else, it just turns 180 degrees
// and goes back the way it came.
//
// Next to do is to encorporate beginning and destination as well as optimum path finding
//
// Last is to use the ultrasonic with the grid.

void loop () {

  while (1==1){
    if (isFrontOpen() == true) {
      moveForward();
      delay (2000);
    }
    else
      if (isRightOpen() == true) {
      turnRight();
      delay (2000);
    }
    else
      if (isLeftOpen() == true) {
        turnLeft();
        delay (2000);
      } 
      else {
        turnAround();
        delay (2000);
      }
  }
}


// Checks if there is something right in front of it using Grids
boolean isFrontOpen () {
  int nextNumber = getFrontNumber();
  if (nextNumber == 0){
    return true;
  }
  else {
    return false;
  }
}

// Checks if there is something to the Right of it using Grids
boolean isRightOpen(){
  int nextNumber = getRightNumber();
  if (nextNumber == 0){
    return true;
  }
  else {
    return false;
  }
}

// Checks if there is something to the Left of it using Grids
boolean isLeftOpen(){
  int nextNumber = getLeftNumber();
  if (nextNumber == 0){
    return true;
  }
  else {
    return false;
  }
}


// Moves straight forward.
void moveForward () {
  motor1.write(180);
  motor2.write(0);

  Serial.println("Forward");
  if (robotDirection == 0)
    ycoordinate = ycoordinate - 1;
  if (robotDirection == 1)
    xcoordinate = xcoordinate + 1;
  if (robotDirection == 2)
    ycoordinate = ycoordinate + 1;
  if (robotDirection == 3)
    xcoordinate = xcoordinate - 1;
  delay (100);
  /*Serial.print("  xcoordinate " );
   Serial.print(xcoordinate);
   delay (500);
   Serial.print(" ycoordinate ");
   Serial.print(ycoordinate);
   delay (500);
   Serial.print("  robot direction: ");
   Serial.print(robotDirection);
   delay(500);
   Serial.println ();
   delay(1000);

   */
  delay(800);
}

// Turns 90 degrees to the Right
void turnRight () {
  motor1.write (60);
  motor2.write (60);
  delay(178);
  motor2.write(95) ;
  delay(65) ;
  motor1.write(90);
  Serial.println("Right");
  if (robotDirection == 0)
    robotDirection = 1;
  else if (robotDirection == 1)
    robotDirection = 2;
  else if (robotDirection == 2)
    robotDirection = 3;
  else if (robotDirection == 3)
    robotDirection = 0;
  delay (500);
  Serial.print("  xcoordinate " );
  Serial.print(xcoordinate);
  delay (500);
  Serial.print(" ycoordinate ");
  Serial.print(ycoordinate);
  delay (500);
  Serial.print("  robot direction: ");
  Serial.print(robotDirection);
  delay (500);
  Serial.println();

  delay(1000);
}


// Turns 90 degrees to the Left
void turnLeft () {
  motor1.write(120);
  motor2.write(120);
  delay(325);
  motor2.write(95) ;
  delay(65) ;
  motor1.write(90);
  Serial.println("Left");
  if (robotDirection == 0)
    robotDirection = 3;
  else if (robotDirection == 1)
    robotDirection = 0;
  else if (robotDirection == 2)
    robotDirection = 1;
  else if (robotDirection == 3)
    robotDirection = 2;
  delay (500);
  Serial.print("  xcoordinate " );
  Serial.print(xcoordinate);
  delay (500);
  Serial.print(" ycoordinate ");
  Serial.print(ycoordinate);
  delay (500);
  Serial.print("  robot direction: ");
  Serial.print(robotDirection);
  delay(500);
  Serial.println();
  delay(1000);
}


// Turns 180 degrees
void turnAround () {
  //  delay(1000);
  Serial.println("Around");
  if (robotDirection == 0)
    robotDirection = 2;
  else if (robotDirection == 1)
    robotDirection = 3;
  else if (robotDirection == 2)
    robotDirection = 0;
  else if (robotDirection == 3)
    robotDirection = 1;
  delay (500);
  Serial.print("  xcoordinate " );
  Serial.print(xcoordinate);
  delay (500);
  Serial.print(" ycoordinate ");
  Serial.print(ycoordinate);
  delay (500);
  Serial.print("  robot direction: ");
  Serial.print(robotDirection);
  delay(500);
  Serial.println();

  delay(1000);
}


// Gets the number on the Grid of the space right in front of it.
int getFrontNumber() {
  if (robotDirection == 0) {
    return arraything  [ycoordinate - 1][xcoordinate];
  }
  if (robotDirection == 1)  {
    return arraything  [ycoordinate][xcoordinate + 1];
  }
  if (robotDirection == 2) {
    return arraything [ycoordinate + 1][xcoordinate] ;
  }
  if (robotDirection == 3) {
    return arraything  [ycoordinate][xcoordinate - 1];
  }
}


// Gets the number on the Grid of the space to the Right of it.
int getRightNumber() {
  if (robotDirection == 0) {
    return arraything [ycoordinate][xcoordinate + 1] ;

  }
  if (robotDirection == 1)  {
    return arraything  [ycoordinate + 1][xcoordinate];

  }
  if (robotDirection == 2) {
    return arraything  [ycoordinate][xcoordinate - 1];
  }
  if (robotDirection == 3) {
    return arraything  [ycoordinate - 1][xcoordinate];
  }
}


// Gets the number on the Grid of the Space to the Left of it.
int getLeftNumber() {
  if (robotDirection == 0) {
    return arraything [ycoordinate][xcoordinate - 1] ;
  }
  if (robotDirection == 1)  {
    return arraything  [ycoordinate - 1][xcoordinate];
  }
  if (robotDirection == 2) {
    return arraything [ycoordinate][xcoordinate + 1] ;
  }
  if (robotDirection == 3) {
    return arraything  [ycoordinate + 1][xcoordinate];
  }
}

int analogInput = 0;
int f=2;
int e=3;
int d=4;
int c=5;
int b=6;
int a=7;
int s=13;
float vout = 0.0;
float vin = 0.0;
float R1 = 100000;
float R2 = 10000;
int value = 0;
void setup()
{
Serial.begin(9600);
pinMode(analogInput,INPUT);
pinMode(s,OUTPUT);
pinMode(a,OUTPUT);
pinMode(b,OUTPUT);
pinMode(c,OUTPUT);
pinMode(d,OUTPUT);
pinMode(e,OUTPUT);
pinMode(f,OUTPUT);
digitalWrite(s,LOW);
digitalWrite(a,HIGH);
delay(500);
digitalWrite(b,HIGH);
delay(500);
digitalWrite(c,HIGH);
delay(500);
digitalWrite(d,HIGH);
delay(500);
digitalWrite(e,HIGH);
delay(500);
digitalWrite(f,HIGH);
delay(500);
digitalWrite(a,LOW);
digitalWrite(b,LOW);
digitalWrite(c,LOW);
digitalWrite(d,LOW);
digitalWrite(e,LOW);
digitalWrite(f,LOW);
}
void loop()
{
value = analogRead(analogInput);
vout = (value * 5.0) / 1024;
vin = vout / (R2/(R1+R2));
Serial.println("Input Voltage = ");
Serial.println(vin);
if(vin>12.46) {digitalWrite(a,HIGH);}
else { digitalWrite(a,LOW);}
if(vin<=12.46 && vin>12.28) {digitalWrite(b,HIGH);}
else { digitalWrite(b,LOW);}
if(vin<=12.28 && vin>12.12) {digitalWrite(c,HIGH);}
else { digitalWrite(c,LOW);}
if(vin<=12.12 && vin>11.98) {digitalWrite(d,HIGH);}
else { digitalWrite(d,LOW);}
if(vin<=11.98 && vin>11.90){digitalWrite(e,HIGH);}
else {digitalWrite(e,LOW);}
if(vin<=11.90) {digitalWrite(f,HIGH);}
else {digitalWrite(f,LOW);}
delay(2000);
}

Roboboi - The intelligent UV sanitization Robot

Things used in this project

Hardware components

Software apps and online services

Hand tools and fabrication machines

Story

i) UV-C Dose and time to kill dose:

ii) Power Source:

iii) Safety/UX features

iv) Autonomous area mapping

Summary:

Custom parts and enclosures

Cad file1

Cad file2

Schematics

body_v12_S2W61ZNVWc.step

swivel_caster_wheel_v3_x7Pv2m2jCg.step

tires_v3_VoyEjUYIkq.step

uv_lamp_v1_k9sxKAI7H5.step

battery_indicator_XRCLauVgl1.jpeg

cover_uGsW9695a3.png

robot_WUuoyFwaO8.jpeg

roboboi_aQY7VmpQxN.jpeg

roboboi1_UcctgHYwHS.jpeg

Bill of Materials

Roboboi

Code

Arduino Movement

Arduino Mapping

Arduino Code for battery Indicator

Credits

Mohit Senapati

Lokesh Kharidhi

Vaishnavi

Dhavalashri Prasad

Priya C

Comments

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Roboboi - The intelligent UV sanitization Robot

Roboboi - The intelligent UV sanitization Robot

Things used in this project

Hardware components

Software apps and online services

Hand tools and fabrication machines

Story

i) UV-C Dose and time to kill dose:

ii) Power Source:

iii) Safety/UX features

iv) Autonomous area mapping

Summary:

Custom parts and enclosures

Cad file1

Cad file2

Schematics

body_v12_S2W61ZNVWc.step

swivel_caster_wheel_v3_x7Pv2m2jCg.step

tires_v3_VoyEjUYIkq.step

uv_lamp_v1_k9sxKAI7H5.step

battery_indicator_XRCLauVgl1.jpeg

cover_uGsW9695a3.png

robot_WUuoyFwaO8.jpeg

roboboi_aQY7VmpQxN.jpeg

roboboi1_UcctgHYwHS.jpeg

Bill of Materials

Roboboi

Code

Arduino Movement

Arduino Mapping

Arduino Code for battery Indicator

Credits

Mohit Senapati

Lokesh Kharidhi

Vaishnavi

Dhavalashri Prasad

Priya C

Comments

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