David YeDavid DriscollDaniel Labdon
Published © CERN-OHL2

LIDIA the Light Disinfecting Apparatus

LIDIA is a Light Disinfecting Apparatus. It is used to quickly disinfect commercial spaces by contorting its geometry to concentrate light.

ExpertWork in progress5 days503

Things used in this project

Hardware components

SuperDroid Robotics Robot
×1
Arduino Mega 2560
Arduino Mega 2560
×1
DFRobot RPLIDAR A1
×2
Ultrasonic Sensor - HC-SR04 (Generic)
Ultrasonic Sensor - HC-SR04 (Generic)
×6
Proximity Sensor
Proximity Sensor
×24
TS-400-124A
×1
UVC DOSEMETER 1000mj
×1
UVC DOSEMETER 100mj
×1
RPI UPS
×1
ARDUINO MKR IMU
×1
UV SAFETY KIT
×1
Raspberry Pi 4 Model B
Raspberry Pi 4 Model B
×1
Raspberry Pi High Quality Camera
×1
SainSmart 8-Channel Relay Module
×3
Linear Actuator 400mm
×8
12V Lead Acid Battery
×7
PIR Motion Sensor (generic)
PIR Motion Sensor (generic)
×2

Software apps and online services

Snappy Ubuntu Core
Snappy Ubuntu Core
Robot Operating System
ROS Robot Operating System

Story

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Custom parts and enclosures

CAD File

This is the sketchup concept drawings of the robot tower and arm. Further refinement of the arms is required to add the slide mechanism, however the hinge dimensions are accurate to ensure a sweeping opening of the arms.

Schematics

Disinfecting Report

This is a sample report that could be used for logging disinfecting work at a site. This would be likely be required by the customer in order to validate the last cleaning and affixed at the jobsite.

Block Diagram

This is the overall block diagram for this robot

Pin Assigments

This is the pin assignment for the Arduino Mega. The remainder of the wiring is USB or follows the manufacturers datasheet.

Bill of Materials

Representative BOM with cost of major components. Some components do not have actual prints so estimates are substituted.

Code

Controlling Motors with Relays

This is the basics of how to control the linear actuators which operate slowly with built in end stops. Since there is no need to adjust the speed a simple low cost relay driver works well. The Pihut has a great tutorial on how to use this. https://thepihut.com/blogs/raspberry-pi-tutorials/controlling-motors-with-relays

Arduino MKR IMU

Library for Arduino Inertial Measuring Unit

Differential Drive Controller

3rd Party Differential Drive Controller for ROS. This provides absolute position based on task loaded and sensor input.

SLAM GMapping

3rd Party tool for visualizing and integrated detected obstructions into the ROS environment.

Stair Detection

3rd party library to add additional checking for detection and avoidance of stairs.

Credits

David Ye

David Ye

1 project • 1 follower
David Driscoll

David Driscoll

0 projects • 0 followers
Daniel Labdon

Daniel Labdon

0 projects • 0 followers

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