Published August 30, 2020 © GPL3+

Hero uv

A simple room layout recordable uvc robot controlled with mobile application

IntermediateWork in progress2 days621

Things used in this project

Hardware components

NodeMCU ESP8266 Breakout Board

node MCU used to control the robot

Arduino Nano R3

Jumper wires (generic)

servo mg

4 channel relay module

PIR Motion Sensor (generic)

SparkFun Step-Up Voltage Regulator - 5V

dc motor 12 v high torque above 8kg/cm

battrey lithium iron phospha

battrey charger 12 v

Rotary Encoder with Push-Button

we need without push button or magnetic encoder to save motor positions

m10 threaded rod and boults and m10 flange nuts

bearing inter dia 10mm

to make the freee wheel

5 inch pvc pipe 1 ft

12v to 220v invetor

5mm thick aluminium plate 8*8ft

plastic sheet transperent

rubber sheet for track wheel

highly refelective sheet

Plastic Enclosure, Project Box

This box is used to mount the two uvc lamp

uv-c led

UV-C T4

Software apps and online services

Arduino IDE

MIT App Inventor

Hand tools and fabrication machines

Drill / Driver, Cordless

Soldering iron (generic)

Multitool, Screwdriver

Hot glue gun (generic)

Tape Measure, Manual

aluminum tig welder

rubber adhesive

plastic adhesive

jig saw

spanners

Story

Introduction:

The reason we named the robot (Hero) due to COVID-19. Nowadays people are risking their life on sanitizing places, even though they are fully equipped or covered. Somehow they become infected by the virus but they are real life saving heroes to us. So we decided not to involve humans anymore instead we introduce robots on the field to save our valuable life. So we named our robot UV Hero.

Purpose of the robot:

Purpose of the robot is to disinfect contaminated areas such as office, hospital, toilets, airport etc. it can be used without any human involvement and it can also disinfect specific areas like door knobs, switch boards, chair, table etc.

The above image is an example of office.

1 / 4 • designed in one and half square foot

we designed the robot about one and half foot area because most doors and stall are in two foot wide and 6.5ft tall.

Construction:

1 / 3 • Follow the procedure to construct the robot.

How to build:

Required tools:

Drilling machine
Spanners
Screw drivers
Glue gun
Aluminum spot welder
Jig saw
Measuring tape
Rubber adhesive
Epoxy

Required components:

Buy all the products listed in the bill of material.

Steps

Making base of the robot

Cut 5mm thick aluminum sheet using jig saw as per the design.

1 / 3

Weld all side using tig or arc welder and drill holes as per the diagram.

Making wheels

1 / 5

Cut 5’ 4 PVC pipes as per the diagram.
Close two ends of the pipe to make wheel and make holes to "attach motor".
Connect other two wheels to bearing and connect it to treaded rod to make free movement.
Cut rubber sheet and attach it to the wheels by using rubber adhesive.

Mounting UVC t8 light

1 / 4

Attach the base servo to base of the robot and cut two 255mm diameter circular pieces and one 250mm circular piece
connect shaft of the servo to 250mm piece
make half foot spacer using plastic enclosure and mount uvc tube light.
Take 5 foot length plastic sheet and cut 1 foot width plastic sheet and stick reflective sheet over the plastic sheet.
Make protecting lid using plastic sheet and cover it on the top.

Make a uvc strobe light and mount with servo gymbal

1 / 4 • this strobe light is used to disinfect at particular place

To make a gymbal connect two servos at x and y axis accordingly on top of the build aluminum casing for strobe light as per the diagram and stick reflective sheet inside the casing.
Now solder 6 grid uv-c led inside the middle of the casing.
And connect it with the servo.

Mounting base light

Finally, mount the uv-c base light at 45 degree angle.

Internal parts:

Assembled robot image :

1 / 6

CAD design:

1 / 3

Making app in MIT app inventor:

This android application is used to control the robot via WIFI.
First we need to enter IP address of the robot the robot will connect to the network
when we access the user interface the commands are send to the node mcu Bord and then the robot will move.
Now move the robot at starting possession and start saving next possession
Record each and every possession of the room layout now all possession are saved in a text file.
Move the robot at stating point and click play button to play recorded possessions
when its done the robot and lights are shut off
The app indicate the light state for safety.

circuit and connections:

1 / 3 • connect the circuit using above diagrams

connect all electronics with the help of schematic diagram

Explanation :

Our motivation is to disinfect the entire room without any human involved in the field. So we decide to build a cost effective remote controlled robot named as (UV Hero). This robot can controlled over WIFI about 5 to 6 meters away from the containment zone. And it has special features to disinfect specific area such as door handle, taps and Switches etc. By using UV-C led strobe light it can be focused at any direction and other feature is disinfect objects and wall by rotatable UV-C T8 light and then the base UV-C led used to disinfect floors. In our project the robot can record layout of the room and maneuver later. By using this Method we can disinfect room whenever needed, this make our robot user friendly. For safety purpose motion detector (PIR sensor) is attached near UV-C T8 light if anyone arrives near the robot it will turn off. This robot is cheap and cost effective because it has low custom components to build

program:

Open Arduino IDE connect the Arduino nano board select the port and upload the given sketch. When it's done connect node mcu and install required library to the IDE, enter your SSID and Password on the sketch then upload it. Once it uploaded open serial monitor get the IP address and enter it on the android app.

algorithm to save position:

when we press save the starting position will saved and then move the robot for next position and press save when we done saving position they are stored in a text file.

when we press play button the saved position are send to the node mcu

the node mcu read that position and process with above algorithm

Working:

Once the node mcu get the value it's compared with current position of the motor and run the motor to achieve that value.

This same algorithm is used to record servos.

calculation for uv-c kill dosage

Pros:

No humans are involved in the field.
No liquid sanitizers.
Easy to use.
Record and play feature enables the robots carefree.
Can be used in any places.
Cost effective method to disinfect.

Cons:

Robot works only in indoor.
It’s not fully automated.
No obstacles should be found during maneuvering.

Safety:

If robot detects any motion while working it will stop.
The uvc bulbs are secured by casing.
The app will indicate whether uvc is on or off.

Download project file

Schematics

Code

#include <ESP8266WiFi.h>
#include <Servo.h>
#include <SoftwareSerial.h>

SoftwareSerial s(3,1);
Servo servo01;
Servo servo02;
Servo servo03;

WiFiClient client;
WiFiServer server(80);

int servo1Pos;
int servo1PPos;
int servo2Pos;
int servo2PPos;
int servo3Pos;
int servo3PPos;

const char* ssid = "robotarm";
const char* password = "tesla432";
String  data ="";
void setup() 
{
servo01.attach(2); //d4
servo02.attach(14);//d5
servo03.attach(12);//d6
pinMode(16,INPUT);//d0
pinMode(5, INPUT);//d1
pinMode(4, INPUT);//d2
pinMode(0, INPUT);//d3


s.begin(9600);                
Serial.begin(115200);
  connectWiFi();
  server.begin();
  
  servo1PPos = 0;
  servo01.write(servo1PPos);
   servo2PPos = 0;
  servo02.write(servo2PPos);
   servo3PPos = 0;
  servo03.write(servo3PPos);
  
}

void loop() 
{ client = server.available();
    if (!client) return; 
    data = checkClient ();
    Serial.println(data);
//servo x 
    if (data.startsWith("sx")) {
      String dataInS = data.substring(2, data.length());
      servo1Pos = dataInS.toInt();
      if (servo1PPos > servo1Pos) {
        for ( int j = servo1PPos; j >= servo1Pos; j--) {
          servo01.write(j);
          delay(1);
          
        }
      }
      if (servo1PPos < servo1Pos) {
        for ( int j = servo1PPos; j <= servo1Pos; j++) {
          servo01.write(j);
          delay(1);
        }
      }
      servo1PPos = servo1Pos;
      Serial.println("servox :");
     Serial.println(servo1PPos);
    }

//servo y
    if (data.startsWith("sy")) {
      String dataInS2 = data.substring(2, data.length());
      servo2Pos = dataInS2.toInt();
      if (servo2PPos > servo2Pos) {
        for ( int k = servo2PPos; k >= servo2Pos; k--) {
          servo02.write(k);
          delay(1);
        }
      }
      if (servo2PPos < servo2Pos) {
        for ( int k = servo2PPos; k <= servo2Pos; k++) {
          servo02.write(k);
          delay(1);
        }
      }
      servo2PPos = servo2Pos;
      Serial.println("servoy :");
     Serial.println(servo2PPos);
    }

    // base servo
if (data.startsWith("sb")) {
      String dataInS3 = data.substring(2, data.length());
      servo3Pos = dataInS3.toInt();
      if (servo3PPos > servo3Pos) {
        for ( int i = servo3PPos; i >= servo3Pos; i--) {
          servo03.write(i);
          delay(1);
        }
      }
      if (servo3PPos < servo3Pos) {
        for ( int i = servo3PPos; i <= servo3Pos; i++) {
          servo03.write(i);
          delay(1);
        }
      }
      servo3PPos = servo3Pos;
      Serial.println("servoy :");
     Serial.println(servo3PPos);
    }

 //motors
if (data.startsWith("md")) {
      String dataInS4 = data.substring(2, data.length());
      int c = dataInS4.toInt();
      switch (c){    
      case 1:// up
      s.write("up");
      break;
      case 2://down
      s.write("up");
      break;
      case 3://left
      s.write("down");
      break;
      case 4://right
      s.write("right");
      break;
      case 5://stop
      s.write("stop");
      break;
      default: 
      //nothing
      break;
      }
     
        }
// lights  
if (data.startsWith("li")) {
      String dataInS5 = data.substring(2, data.length());
      int b = dataInS5.toInt();
      switch (b){    
      case 1:// up
      s.write("t4high");
      break;
      case 2: //down
      s.write("t4low");
      break;
      case 3://left
      s.write("ledhigh");
      break;
      case 4://right
      s.write("ledlow");
      break;
      
      default :
      //nothing
      break;
      }
      
      }
// delay

if (data.startsWith("de")) {
      String dataInS4 = data.substring(2, data.length());
      int delay1 = dataInS4.toInt();
      delay(delay1);
        }

    client.flush();


}

  
void connectWiFi()
{
  Serial.println("Connecting to WIFI");
  WiFi.begin(ssid, password);
  while ((!(WiFi.status() == WL_CONNECTED)))
  {
    delay(300);
    Serial.print("..");
  }
  Serial.println("");
  Serial.println("WiFi connected");
  Serial.println("NodeMCU Local IP is : ");
  Serial.print((WiFi.localIP()));
}

String checkClient (void)
{
  while(!client.available()) delay(1); 
  String request = client.readStringUntil('\r');
  request.remove(0, 5);
  request.remove(request.length()-9,9);
  return request;
}

//code by vimaleric
#include <ESP8266WiFi.h>
#include <Servo.h>

Servo servo01;
Servo servo02;
Servo servo03;

WiFiClient client;
WiFiServer server(80);

// to map encoder value
int servo1Pos;
int servo1PPos;
int servo2Pos;
int servo2PPos;
int servo3Pos;
int servo3PPos;

const char* ssid = "youre ssid";
const char* password = "your password";
String  data ="";

 
void setup() 
{
servo01.attach(2); 
servo02.attach(14);
servo03.attach(12);
           
Serial.begin(115200);
  connectWiFi();
  server.begin();
  
  servo1PPos = 0;
  servo01.write(servo1PPos);
   servo2PPos = 0;
  servo02.write(servo2PPos);
   servo3PPos = 0;
  servo03.write(servo3PPos);
  
}

void loop() 
{  
  client = server.available();
    if (!client) return; 
    data = checkClient ();

    if (data.startsWith("sx")) {
      String dataInS = data.substring(2, data.length());
      servo1Pos = dataInS.toInt();
      if (servo1PPos > servo1Pos) {
        for ( int j = servo1PPos; j >= servo1Pos; j--) {
          servo01.write(j);
          delay(1);
          
        }
      }
      if (servo1PPos < servo1Pos) {
        for ( int j = servo1PPos; j <= servo1Pos; j++) {
          servo01.write(j);
          delay(1);
        }
      }
      servo1PPos = servo1Pos;
      Serial.println("servox :");
     Serial.println(servo1PPos);
    }
// sX this data are send by mit app inventer by reading the file
    if (data.startsWith("sX")) {
      String dataInS = data.substring(2, data.length());
         dataInS.remove(0,1);
         dataInS.remove(dataInS.length()-7,7);
      servo1Pos = dataInS.toInt();
      if (servo1PPos > servo1Pos) {
        for ( int j = servo1PPos; j >= servo1Pos; j--) {
          servo01.write(j);
          delay(1);
          
        }
      }
      if (servo1PPos < servo1Pos) {
        for ( int j = servo1PPos; j <= servo1Pos; j++) {
          servo01.write(j);
          delay(1);
        } 
      }
      servo1PPos = servo1Pos;
      Serial.println("servox :");
     Serial.println(servo1PPos);
    }
    if (data.startsWith("sy")) {
      String dataInS2 = data.substring(2, data.length());
      servo2Pos = dataInS2.toInt();
      if (servo2PPos > servo2Pos) {
        for ( int k = servo2PPos; k >= servo2Pos; k--) {
          servo02.write(k);
          delay(1);
        }
      }
      if (servo2PPos < servo2Pos) {
        for ( int k = servo2PPos; k <= servo2Pos; k++) {
          servo02.write(k);
          delay(1);
        }
      }
      servo2PPos = servo2Pos;
      Serial.println("servoy :");
     Serial.println(servo2PPos);
    }

    // base servo
    
if (data.startsWith("sb")) {
      String dataInS3 = data.substring(2, data.length());
      servo3Pos = dataInS3.toInt();
      if (servo3PPos > servo3Pos) {
        for ( int i = servo3PPos; i >= servo3Pos; i--) {
          servo03.write(i);
          delay(1);
        }
      }
      if (servo3PPos < servo3Pos) {
        for ( int i = servo3PPos; i <= servo3Pos; i++) {
          servo03.write(i);
          delay(1);
        }
      }
      servo3PPos = servo3Pos;
      Serial.println("servoy :");
     Serial.println(servo3PPos);
    }
}



void connectWiFi()
{
  Serial.println("Connecting to WIFI");
  WiFi.begin(ssid, password);
  while ((!(WiFi.status() == WL_CONNECTED)))
  {
    delay(300);
    Serial.print("..");
  }
  Serial.println("");
  Serial.println("WiFi connected");
  Serial.println("NodeMCU Local IP is : ");
  Serial.print((WiFi.localIP()));

    delay(1);


  
}

String checkClient (void)
{
  while(!client.available()) delay(1); 
  String request = client.readStringUntil('\r');
  request.remove(0, 5);
  request.remove(request.length()-9,9);
  return request;
}

Credits

vimal erick

2 projects • 6 followers

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Hero uv

Hero uv

Things used in this project

Hardware components

Software apps and online services

Hand tools and fabrication machines

Story

Purpose of the robot:

Construction:

How to build:

Required tools:

Required components:

Steps

Making base of the robot

Making wheels

Mounting UVC t8 light

Make a uvc strobe light and mount with servo gymbal

Mounting base light

Internal parts:

Assembled robot image :

CAD design:

Making app in MIT app inventor:

circuit and connections:

Explanation :

program:

algorithm to save position:

Working:

calculation for uv-c kill dosage

Pros:

Cons:

Safety:

Custom parts and enclosures

UVC hero cad model

Schematics

Android app

AIA file for app

Apk for record and play

AIA file for record and play

Sketch up design

Read me file

Bill of materials

Data sheet for led

Data sheet for T8 uvc lamp

Schematics

Schematics1

Code

UVC robot direct controll

Code for arduino nano

Code for record and play operation

Credits

vimal erick

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