楊學翰邱吉鈞王友廷張家翔林棋竣張芯慈Orange Hsu徐有齊岳長緯周柏融
Published © CERN-OHL2

G.L.A.M.O.U.R.o.U.S

Germicidal Long-life Autonomous (using Melodic ROS) Overpowered UVC Robot of Unrivaled Supremacy

AdvancedFull instructions provided5 days250

Things used in this project

Hardware components

Raspberry Pi 4 Model B
Raspberry Pi 4 Model B
×1
Arduino Mega 2560 & Genuino Mega 2560
Arduino Mega 2560 & Genuino Mega 2560
×1
Intel Depth camera
Uses TOF to acquire real time depth data
×1
DV motor driver TB6614FNG
×2
Photo interrupter
Optional if an encoder is pre-installed
×1
DC motor (generic)
×4
Mecanum wheel
×2
Lead acid battery
×1
Speaker, Piezo
Speaker, Piezo
×1
Distance sensor (VL53L0X V2)
×3
Electrical ballast 40W 12V
×4
Electrical ballast 12W 12V
×1
Voltage sensor
Estimate the DOD(depth of discharge) of battery
×1
Aluminum extrusion
The main structure of chassis
×1
Acrylic
As platform for development boards & crumble zone
×1
Servo motor MG995
×1
Passive infrared sensor (AM312)
×4

Software apps and online services

Robot Operating System
ROS Robot Operating System
Intel RealSense SDK
Intel RealSense SDK
To access all kinds of libraries and packages regarding the depth camera
OpenCV
OpenCV
Raspbian
Raspberry Pi Raspbian

Hand tools and fabrication machines

3D Printer (generic)
3D Printer (generic)
Frequently used in the project the print mounts for all sorts of stuff.
Laser cutter (generic)
Laser cutter (generic)
Frequently used to make holders or adapters.
Wire Stripper & Cutter, 18-10 AWG / 0.75-4mm² Capacity Wires
Wire Stripper & Cutter, 18-10 AWG / 0.75-4mm² Capacity Wires
Vernier caliper
A must-have when creating a 3D print CAD file
Soldering Station, 110 V
Soldering Station, 110 V
Mastech MS8217 Autorange Digital Multimeter
Digilent Mastech MS8217 Autorange Digital Multimeter
Dupont crimper

Story

Read more

Custom parts and enclosures

Full assembly of robot

Full assembly of robot

Full assembly of robot, but in .png format

Chassis

Including aluminum extrusions, acrylic plates, 3D prints

Chassis

Encoder

Includes encoder disk and photo interrupter mount

Encoder

Motor mount

One for each motor, fixed on aluminum extrusion

Motor mount

Lamp mount

Two for each lamp, connects aluminum extrusion and lamp fixture

Lamp mount

Battery mount

Fix battery onto the acrylic bottom plate

Battery mount

Servo holder

Attaches TOF distance sensor to servo motor

Servo holder

Bottom plate

Physical foundation of most of the electrical components.

Front & back bumpers

Provide mechanical protection. Blocks small objects from getting under the robot.

Middle plate

Lamp protection and camera holding.

T5_lamp_ballast_holder

Holding the T5 lamp and ballast.

T8_ballast_holder

Holding T8 ballast

Top_plates

Provide the first crumple zone when tipping. Holding warning light.

Upper-bottom_plate

Same as bottom plate. Holding speakers.

Various_adapters

Allow modules can be easily assembled on bottom plate or upper-bottom plate.

Schematics

Module wiring map.svg

A very detailed schematic that includes all the electrical components we used.

Module wiring map.png

A very detailed schematic that includes all the electrical components we used-but in .png format

System architecture diagram

A conceptual sketch of how the components are connected.

Code

Github repository link

Credits

楊學翰

楊學翰

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邱吉鈞

邱吉鈞

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王友廷

王友廷

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張家翔

張家翔

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林棋竣

林棋竣

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張芯慈

張芯慈

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Orange Hsu

Orange Hsu

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徐有齊

徐有齊

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岳長緯

岳長緯

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周柏融

周柏融

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