Journal Publication of International Research for Engineering and Management (JOIREM)
Volume: 10 Issue: 04 | MAY-2022
SANITIZER SPRAYING WIRELESS ROBOT FOR QUARANTINE CENTERS &
HOSPITALS
Prajakta Kolhe1, Snehal Kale 2, Pranav pardeshi3 &
Prof. Dr.D.P.Kadam4
1,2,3 student BE Electrical, 4 prof. EE
1,2,3,4Department of Electrical Engineering, MET’s Institute of Engineering, bhujbal knowledge city
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Abstract - The world is severely affected by the Covid-19 pandemic health-care workers
are hostile to work inside of COVID-19 hospital due to social distancing. Supplying essentials
food and delivering medicine in hospitals has a challenge. To address the need of the World
health organization and the certified sanitizing system is a solution for personnel and surface
decontamination. To overcome the problem developed automatic portable sanitizing
equipment for spraying sanitization solution. The portable sanitizer unit is attached to the top
of the mobile robot. The system integrates a sprinkler mechanism and is used to distribute air
and disinfectant fluid mixture. The mobile robot main components consist of a DC motor,
Bluetooth module, Arduino, Motor driver, Submergible pump, Sprinkler, Battery, DC
Converters are used. The system is capable of sanitizing the floors of hospitals. The application
area can include hospital corridors, medical shops, operation theatre, walking pathways, doctor
room, testing center, and patient room, etc.
Key Words: Covid-19; Hypochlorite; DC motor; Bluetooth; Arduino.
INTRODUCTION The robot can play an important role during the present pandemic
situation. It reduces human involvement in all areas starting from a patient check-up to a
medicine delivery system [1]. Health organizations were also instructed to maintain social
distancing from corona positive found people. It is the biggest challenge for doctors and
health care support workers. The government and medical workers are working day and
night to protect the people from infection and infected people. During this pandemic
situation, many hospitals are facing the biggest issue is a shortage of labourers, and many
healthcare people afraid to enter the patient room. Unfortunately, everyday hospitals need to
clean their floors for disease prevention and maintain hygiene. Recently many high-risk and
high-touch areas, intelligent navigation, and detection systems are used. Further, Robot also
used in modern farming to increase productivity. Zant et al. (2018) [2] designed an
agricultural robot for greenhouse mildew treatment operations. This system allows the
farmers to specify their farm, including fields, roads, and docking stations. In recent days
house cleaning robots are famous for the hygiene room cleaning system. Asafa et al.
(2018)[3] developed a vacuum cleaner robot for household applications. They fabricate disk
type robot attached with Vaccum and cleaning tools. In the system, it sucks dust via a folding
dust bin on top, and a coolingfan is also mounted. The robot navigation via two motor
controlled rear sweepers had each driven by 3v DC Motor. This compact type of robot
making cleaning is a fully autonomous duty.
© 2021, JOIREM |www.joirem.com| Page 1
Journal Publication of International Research for Engineering and Management (JOIREM)
Volume: 10 Issue: 04 | MAY-2022
The application of robots arisen in all the fields, types such as wheeled mobile robots,
legged robots, flying robots, robot vision, artificial intelligence, and so on. Some robots can
walk, jump, and fly. Rubio et al. [4] reviewed the mobile robots in the aspects of the concept,
framework, and applications. Mobile robots have the ability to move independently, with
adequate intelligence to respond and make a decision based on the opinion received from the
situation. Normally, any robot fabrication consists of locomotion, perception, cognition, and
navigation. Vehicle movement problems are rectified by understanding the mechanism and
kinematics, dynamics, and control theory. The sensitivity of the mobile robots depends on
signal analysis, computer vision, and sensor technologies. Cognition is the process of analyzing
input data from sensors and taking consistent action to achieve the purpose. Navigation systems
require knowledge of positioning, starting point, and stopping point. According to the
locomotion system, mobile robots can be classified as stationary, Land-based, Air-based, and
water-based, etc.
A robot can help a human being in various applications and risky operations in difficult
and fickle situations such as fire rescue, anti-terrorism, and removing explosives, etc. Cui et
al. (2016)
[5] analyzed the wheel /track mobile robot mechanism design and Mobil ability. A flat
ground transformable wheel track is used to analyze the mechanical structure of the wheel
based robot. In this vehicle structure, the two sides of the driven rod maintain the symmetry of
the motion and double four-bar linkage mechanism used in the track expansion and contraction
situations
Materials & Methods
The robot is capable of effectively killing microorganisms on the floor, such
as fungi, bacteria, and viruses, and has significant effects on harmful microorganisms [6].
The robot cans automatically patrol for sterilization and disinfection in a predetermined area.
The sprinkler is equipped with a double-acting pneumatic cylinder, and the purpose of the
cylinder is used to pushes the air into the tank [7]. The main components consist of a
sprinkler robot, is DC motor, Bluetooth module, Arduino, Motor driver, Submergible pump,
Sprinkler, Battery, DC Converters. The frame is made up of a 3mm Galvanized iron sheet
with a dimension of 440 mm length and 240mm width. The frame acts as a base and is used
to assemble all the components.
Control system
Lpc2148 microcontroller is used to control the sprinkler unit. It is used to control the mobile robot’s
mechanical structure and comment to perform the desired objectives. The purpose of the control
system is mainly perception, cognition, and action. The perception system provides information
about the outside atmosphere. Based on the output data, appropriate commands are sent to actuators,
which activate the mechanical structure
Navigation System
The important unit of a mobile robot is the navigation system. This system has three types
pathtracker, obstacle detection system, and remotely operated system. The objective is for
the robot to move from one place to another place to complete the assigned task. HC-05 is a
Bluetooth module that establishes a wireless network, The specification of this module is
operating frequency is2.4GHZ, and the operating voltage is 3.3v why we preferred these
modules. These modules require less power, and the execution speed is also very high
compared with other processors.
© 2021, JOIREM |www.joirem.com| Page 2
Journal Publication of International Research for Engineering and Management (JOIREM)
Volume: 10 Issue: 04 | MAY-2022
Motion Planning
Path planning is essential for mobile robots to reach the target without any disturbance
and collision. Trajectory tracking, path following remotely operated wheel-based robots are
an important part of motion planning. Light-based sensors are used in the sprinkler robot.
Wheel System
The choice of wheel types and number of wheels for a mobile robot is strongly linked to
the choice of wheel arrangement. In sprinkler robots, four wheels have been selected because
these robots are more stable than two or three-wheeled robots. In this type of wheel systemthe
center ofgravity is located inside of the rectangle. The wheel is made up of polyethylene
material and whichis harder and more durable than many polymeric materials. The wheel
geometry designed suitable for high velocity in flat floors.
Battery
A battery is an electrochemical device that converting electrical energy into chemical energy.
Normally three types of batteries are used in mobile robots such as Lithium-polymer,
Lithium-ion, and Alkaline [9].12V Lithium-ion battery is used in the sprinkler Robot. These
batteries provide longer storage capacity and durability
Tank
The sanitizer tank is made up of poly ethylene material with capacity of 3 litres
Remote Operating System:
Commonly wheel-based robots face some difficulties when traveling in complex
environments such as steps and obstacles area [10]. To avoid this problem, vision systems
and remote-based wheel operating systems are used in mobile robots. The working principle
of theautomatic sanitizer sprinkler robot is similar to a Television remote. When pressing the
button in the remote, it obeys the input signal through the app. Initially the input data reaches
the Bluetooth module, and then the signal goes to the Arduino module. the input data reaches
the Bluetooth module, and then the signal goes to the Arduino module. The Arduino program
passes the commands to the motor drive. During the forward and backward stroke of the
cylinderair enters inside and moves the sanitizer outside of the tank
Forward F:Forward function F button allows robot to move forward when user gives F
command in terminal mod
© 2021, JOIREM |www.joirem.com| Page 3
Journal Publication of International Research for Engineering and Management (JOIREM)
Volume: 10 Issue: 04 | MAY-2022
BACKWARD B:Backward function B button allows robot to move backward when user gives
B command in terminal mode
LEFT-L:Leftward is the function used in Loop block it allows robot to move left side when user
gives L command in terminal mode.
Right –R
Rightward is the function used in Loop block it allows robot to move right side when user
gives L command in terminal mode.
PUMP START-O
Pump Start is function used in Loop block it allows to start pump when user gives O command
in terminal mode
PUMP STOP-G
Pump top is function used in Loop block it allows to stop pump when user gives G command
in terminal mode.
STOP-S
ST in terminal mode it will send certain frequency to the Bluetooth module and the robot will
stop automatically
MOBILE Controller mode
© 2021, JOIREM |www.joirem.com| Page 4
Journal Publication of International Research for Engineering and Management (JOIREM)
Volume: 10 Issue: 04 | MAY-2022
Results and Discussion
I. Design Calculations
(i) Sprinkler flow
rate
Theoretical
Q=k
√ pp=20 psi
k=5.6
Q=5.6
√20 Q= 25
GPM
Q=Flow Rate (GPM), P=Operating PSI of
head/OutletK=K Factor of Head/outlet
(ii) Analysis
For 1 litre, the flow rate of the Sprinkler is 476seconds.
For the project the flow rate of the sprinkler is
200 seconds.The area of the sanitizer covered is
600mm.
The acquired Flow rate is 17GPM
(iii) Motor Specifications
(iv) Speed = 200 RPM, Voltage = 12V, Power = 100W Torque of the motor
Torque = (P X 60) / (2 x 3.14 x N)
Torque = (100 X 60) / (2 x 3.14 x
100)
Torque = 9.554 Nm,
Torque =9.554 x 103 Nmm
(v) Battery life calculation
(vi) Robot working hours for one full charge. Batter capacity = 12v 7Ah (Ampere
Hours)
Total device consumption = 520ma (mill ampere)
Battery Life = Battery Capacity in mAh / Load Current in mA
= 7000mAh/520ma
= 13.46 Hours
© 2021, JOIREM |www.joirem.com| Page 5
Journal Publication of International Research for Engineering and Management (JOIREM)
Volume: 10 Issue: 04 | MAY-2022
Conclusion
Autonomous mobile sanitizing robot is becoming most useful in COVID-19 hospital
environments. It reduces the human intervention in sanitization. The designed system is very
compact, so easily can transport this robot to any place. The COVID-19 pandemic presents
even more reason to use mobile robots for safe cleaning in quarantine zones. The proposed
model is fabricated and tested in a hospital environment. The system is capable of
disinfecting an area of up to 100 m2 per day. By using the autonomous sprinkler system
optimizes the disinfecting areas and reduces the wastage of sanitizer. The designed system
is capable of sanitizing an area of up to 100 m2 per day. The application area can include
hospital corridors, medical shop, operation theatre, walking pathways, doctor room, testing
center, and patient room, etc.
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