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Azure Sphere Starter Kit
Blog AzureSphere Powered SUPER CLEAN BOT (Floor Sanitizing BOT)
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Engagement
  • Author Author: karthikeyans
  • Date Created: 11 Jun 2020 4:57 AM Date Created
  • Views 1109 views
  • Likes 5 likes
  • Comments 5 comments
  • azurespherehomehacks
  • homewhackdch
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AzureSphere Powered SUPER CLEAN BOT (Floor Sanitizing BOT)

karthikeyans
karthikeyans
11 Jun 2020

Problem Statement

 

The Main objective of this project is to evaluate Avnet Azure Sphere MT3620 development kit by utilizing most of its available GPIOs/I2C terminals without using an another slave board like Arduino, etc., for mounting sensors or for handling motor drivers. This thought of mine also favours a super access to  features like Defense in depth (ii) Deployment flexibility (iii) OTA updates (iv) Automatic security updates as well-documented by the Manufacturer. Hence a 100% compatibility towards over-the-air update in the form of cloud deployment by making the board talk with Azure Cloud Platform ensures easy update from a remote location. An unique feature of Azure sphere complying with richest security standards in the industry is also a critical requirement for the prevailing security concerns around IoT deployments. To support my thought of developing AzureSphere-Only Master Board- based project, a BOT is proposed capable of performing floor sanitizing using UV LEDs by sensing the objects around with its Ultrasonic sensors. Its named “SUPER CLEAN BOT” and let me craft its storyboard now.

 

Home Hygiene Assist

SUPER CLEAN BOT as it sounds is a cleaning bot designed with a primary focus on self hygiene due to the recent outbreak. It performs the process of Home Floor Sanitizing by illuminating the UV LEDs over the floor for a pre-defined period of time and this process is aided by ultrasonic sensors mounted on the BOT sides in all four directions to sense the object around for its obstruct-free movement.  Though it is a demonstration of Proof-of-Concept, the exact benefits of using the UV light in the way as proposed is to be ascertained separately. Also necessary precautions to be taken while handling UV LEDs and always remain aware of harmful exposures to UV radiations. Few advisories from WHO and other resources shall be refereed before proceeding further

Reference1: https://www.who.int/health-topics/ultraviolet-radiation#tab=tab_1

Reference2: https://www.who.int/uv/publications/en/occupational_risk.pdf

 

SUPER CLEAN BOT

Construction

A simple architecture of the bot is shown below which includes the following components

BOT’s brain behind

  1. Azure Sphere MT3620

 

BOT’s taste buds - External Sensing

  1. Ultrasonic Sensors
  2. Avnet Azure Sphere – Handy OnBoard Sensors – Accelerometer, Gyroscope, Temperature, Light Intensity sensors

 

BOT’s Movement Aid

  1. 4 Wheeled Robotic chassis driven by  H-Bridge based driver board

 

BOT’s  Hunger Boost

  1. Power Source 1:

5V USB source from a mobile battery bank is used to power the MT3620 through its micro USB port.

 

  1. Power Source 2:

7-12V Li-Po used exclusively to power hungry motors.

 

BOT’s Human Interface

  1. 128 x 64 OLED Display
  2. Azure IoT Dashboard (Work-In-Progress)*

 

BOT’s Assignment

  1. UV LED mount plate with 5mm LED (3Nos)

 

Wiring Diagram

 

image

 

As planned to make use of AzureSphere GPIOs, following are the connection / pin mappings

 

Pin Mapping for Ultrasonic Sensors

  1. Sl.No

AzureSphere PIN

Sensor Pins

Description

1

GPIO1

TRIG

Front Sensor

2

GPIO16

ECHO

3

GPIO0

TRIG

Left Sensor

4

GPIO2

ECHO

5

GPIO28

TRIG

Right Sensor

6

GPIO26

ECHO

7

GPIO3

TRIG

Rear Sensor

8

GPIO17

ECHO

 

 

BOT - TopView

image

 

 

BOT – START SCREEN.

To check other parameters Press User Button B

image

 

 

BOT – SCREEN - 2. (On Pressing User Button B)

image

 

 

BOT – SCREEN - 3. (On Pressing User Button B)

image

 

BOT – SCREEN - 4. (On Pressing User Button B)

image

 

BOT – SCREEN - 5. (On Pressing User Button B)

image

 

BOT – SCREEN 6. (On Pressing User Button B)

image

 

 

 

BOT – AutoMode. Default Time 60seconds - (On Pressing User Button A and User Button B together)

image

 

 

Working Demo:

https://youtu.be/88mr-1gAgaQ

To enable AutoMode – Press User Button A & Button B together. Sanitizing process starts with default period of 60seconds. To restart press “Reset” button.

 

Source Code:

This is Completely a HighLevel app

Visual Studio 2019 required.

Download the code from following link and Open -> Cmake file from Visual Studio 2019.

https://github.com/karthikeyansundararaman/AzureSphere.git

 

Conclusion:

Though its still a work in progress, many finetuning is required in the areas of algorithms, offloading the sensor workload to M4 processors, connecting to cloud and provisioning remote sideloading. Thanks for your time. Will keep you updated.

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Top Comments

  • karthikeyans
    karthikeyans over 2 years ago in reply to dubbie +3
    Thanks for your interest. As far as the chassis concern, it’s a ready to assemble base which I purchased it from an online vendor long back similar to one shared here
  • dubbie
    dubbie over 2 years ago +1
    An interesting mobile robot construction. Do you have more details on how the structure was constructed? It has an interesting four wheel drive approach. Dubbie
  • dubbie
    dubbie over 2 years ago in reply to karthikeyans +1
    Thanks for this. I haven't seem this kit before. I like the way it lifts the body away from the ground to give increased ground clearance. Dubbie
  • karthikeyans
    karthikeyans over 2 years ago in reply to kevinkeryk

    Thanks Kevin, for your compliments. Nice to know about the idea of remodeling a robot vacuum cleaner for floor sterilization. Good Luck to your Daughter

     

    My project took about 20-25 hours of mine to shape to a state presented here and I am completely satisfied with the results. It all happened when my 1-year old baby started crawling on the floor and this activity during recent pandemic outbreak urged me to work out a solution to ensure best possible protection to her. Though my work is still in very early stage both in terms of software & hardware, I wish to extend my Proof of Concept further and planned to commercialize by utilizing Azure Sphere's ability to fullest.

     

    Regards,

    Karthikeyan Sundararaman

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  • kevinkeryk
    kevinkeryk over 2 years ago

    Fascinating writeup karthikeyans thank you for putting this together!

     

    My daughter had a similar idea to hijack a robot vacuum cleaner and install UVC LEDs for floor sterilization.

     

    Was it worth your investment in terms of time and resources to achieve the results you have seen so far?  Does the robot help you feel more safely protected against COVID-19?

     

    Best Regards,

     

    -Kevin

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  • dubbie
    dubbie over 2 years ago in reply to karthikeyans

    Thanks for this. I haven't seem this kit before. I like the way it lifts the body away from the ground to give increased ground clearance.

     

    Dubbie

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  • karthikeyans
    karthikeyans over 2 years ago in reply to dubbie

    Thanks for your interest. As far as the chassis concern, it’s a ready to assemble base which I purchased it from an online vendor long back similar to one shared here

     

    imageimage

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  • dubbie
    dubbie over 2 years ago

    An interesting mobile robot construction. Do you have more details on how the structure was constructed? It has an interesting four wheel drive approach.

     

    Dubbie

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