Volume 6, Issue 6, June – 2021 International Journal of Innovative Science and Research Technology

ISSN No:-2456-2165

IoT Based Smart Delivering Robot for Isolation Ward

J. Luke Carishma*, S. Pavithra*, S. Mukunthan*, M. Gayathri*
*Assistant Professor, Dhanalakshmi Srinivasan College of Engineering, Coimbatore

Abstract:- The pandemic covid-19 have brought a vast discovered a robot [6]. Since the eruption of covid19 in Dec
change to the world and made us distant socializing 2019 , many hospitals and medical workers are petrified to
rather than social distancing. The medical sectors are trat the affected people . To alleviate worn out medical
facing a crucial sitch on this. Health care professionals workers from the pandemic situation , some Chinese
are petrified of their own lifes. Many are isolated day by hospitals developed an intelligent robot. By using this robot,
day to the hospitals and the only way to overcome this we can reduce the direct contact between the medical
disease is to avoid the interconnections between the workers and the patients [7]. The covid19 pandemic will
people even in hospitals. Moreover an iot based remote have a long- lasting impacy on the entire world. Scientists
controlled robot for navigating ,delivering food and already started research programs and the educators are
drugs can limit the interactions of medical professionals changing the way that the next generation of researchers.
to patients. Ensuring the safety and low expansion of These changes are impactful to the human-robot interaction.
covid-19 ,the robot can be controlled anywhere from the Yet this research performed in the coming year will be
hospital. And multiple sensors can leverage many tasks changed in different ways. Based on thus producwd an
without contacting patients including measuring the moving robot to reduce the spreading [8].
oxygen level. The navigation of the system is done by
Ultrasonic Sensor , camera(ESP-32) and motors(DC- The covid19 pandemic situations the robotics in
300rpm-12V Centre shaft DC geared) , it is directed by healthcare and allied areas maintain a special concern
android application (controller version 1.0) relating and control of spread. The utilization of robots to
minimize persons contact and support in hospital
Keywords:- Robot , Sensor, Ultrasonic Sensor , Camera , management. The robotics utilization minimizing the life
Android Application. threat to medical staff and doctors [9]. In hospice, drug
distribution or drug delivery is a key task executed even in a
I. INTRODUCTION pandemic situation or in usual state. In order to do the duty ,
the robot can turn down the direct contact amoung healthcare
IoT plays an important role in the technology providers and sufferers [10]. To elaborate and expand the
development stream. Simply IoT means interconnection of performance of robots can be carried out by the proper
object that are able to collect and transfer data over a wireless allocation of the piece of work. This can be accomplished by
network. By looking to the current scenario we all know that setting the robot which can do more than one role rather one
covid19 exposed in the world and affected people are at a time [11].
advised to quarantine for 14 days [1]. The connection of
many devices can be done using (IoT) through internet. The II. AN OVERVIEW OF ROBOT TECHNOLOGY
interoperability of vehicle ventilation systems is done using
NodeMCU, which is a microcontroller to monitor and control A. Delivery of medicines and essentials
sensors . It can be controlled by android application [2]. In the current crisis the risk of the medical staff and
burden paved by them can be reduced by functioning of
The internet of things is being used in several robots. The essential things needed for the patients can be
applications at an industrial level. The main feature of this is delivered without contacting them manually. The space
it does not require human-to-human interactions. But the provided in robot to carry medicines and food items to a
humanoid robots have certain chances to be directed by specific patient can control this virus from spreading.
humans and this can be restrained usind android application
[3].The Robots can be used as social workers.[4] The B. Robot System
outbreak of covid19 has affected 212 countries and territories The robot is designed with the low cost Rigid form
across the globe. During this , health care professionals are board material body having 40 cm height, 35 cm width and
in the front line of the battle. And they are at high risk of 7 cm wheel diameter. The motion mechanism is done using
infection. We are in charge of securing their lives too. DC motors, which is connected to the motor drivers. And it
Therefore uncovering possible ways to lower and control the is electronically controlled using mobile application which
disease becomes a sore problem to solve [5]. Coronavirus a controls the whole motion of robot. The ultrasonic Sensors
dangerous pandemic in the world wide have outstretched are used as the proximity sensor which detects the backward
upto 72.5 million peoples and nearly1.62 million people have distance. If an obstacle is detected, „obstacle detected‟ is
died. By considering the menacing situation of this disease displayed in the mobile application.
the whole world is recommended to wear mask and keep
social distancing. However the spreading of disease increases
day by day. To avoid such spreading IEEE professionals

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Volume 6, Issue 6, June – 2021 International Journal of Innovative Science and Research Technology
ISSN No:-2456-2165
C. Considerations for designing Robot III. DESIGN METHODOLOGY
While designing the robot following parameters are
met. The system which we designed consist of three major
functions, such as measuring the oxygen level of the patient,
Dimensions The dimensions and size needed for the viewing the patient through camera, delievering the
robotwas finalized. sufficient things to the patient. The design of hardware and
Sketches Two dimensional sketch for the robot was software is detailed in the section. The Fig.5 indicates block
created schematic diagram of our system and Fig.6 indicates the
Model Three dimensional model was created from operational flow diagram of our system. The rate oh heart
the 2D model and SpO2 is measured by placing the finger tips in pulse
Appearance The components were fixed to the correct oximeter. The two rates thus measured can be controlled by
places, which gives a good appearance. Arduino Nano board, and the information is send to the
Table.1 Node MCU.

Fig.1 Side view in 2 Dimension

Fig.5 Block schematic diagram

Fig.2 Top View in 2 Dimension

Fig.6 Operational flow diagram

The Android application is used as the whole control

of movement in robot.As the user moves the cursor in the
application , the navigation input is send to server. And
Fig.3 Back view in 2 Dimension server sends data to NodeMCU. The front and side view can
be adjusted through application and proximity sensor detects
the backside obstacle if present.

A. Pulse oximeter
The Oxygen level of a human body can be measured
using a device called Pulse oximeter. Lower level of oxygen
in the body is a symptom for covid-19 patients .The
oximeter used in robot can scrutinize the patient‟s oxygen
level. The normal people have an oxygen level of 95% or
more. The SPO2 level in oximeter indicates the oxygen
Fig.4 wheel alignment in 2 Dimension level.

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Volume 6, Issue 6, June – 2021 International Journal of Innovative Science and Research Technology
ISSN No:-2456-2165
B. NodeMCU IV. CIRCUIT DESIGN
The NodeMCU is a open source IoT development
board with having a unique feature such as inbuilt WiFi. The Fig.9 indicates the circuit diagram representation of
This board can be connected to a WiFi network and also can robot. The main board used in the design is NodeMCU
setup its own network. It uses 128 KB RAM and 4MB flash esp8266 microprocessor. To operate the system a 12V
memory. The power required to operate the ESP8266 is 3V battery power supply is used , which is converted to 5V using
to 3.6V .The LDO voltage regulator keeps the voltage IC7805 DC converter. The motor used to rotate wheels are
steady at 3.6V .The ESP8266 NodeMCU has two buttons , DC motors The motor driver LM298N is used for the
one located on top left corner is Reset button and other on protection of motors from burning. Input pins from motor
bottom left corner is the download button copied to ABM driver is connected to datapins (D5,D6,D7,D8). Pulse sensor
URL‟s and press OK to Enter.From the Tools menu search MAX30100 is connected to analog pins (A4,A5) of Arduino
and select ESP8266.Choose desired board to upload the nano. And digital outputs from Arduino nano is send to the
code. digital output pins of NodeMCU. Esp 32 CAM is
programmed and connected to the server. The Echo and
C. Mobile Application Trig pins of Ultrasonic Sensor is connected to digital pins
An android application developed by the user is used (D2,D3) as input.
to control and navigate the robot.The APK file named
controller version 1.0 having file size of 2.3 MB (2,411,724 The Arduino Integrated Development Environment
bytes). (IDE) is the open source software used to write and upload
programs to the arduino compatible boards. It supports the
D. Arduino IDE languages C and C++ by utilizing special rules of code
structuring. The process followed by selecting the
preferences from the file menu and overall connection builds
the smart delievering robot.

Fig.9. Circuit Diagram

Fig.7. NodeMCU pindiagram V. SIMULATION RESULTS AND DISCUSSION

E. Arduino Nano A. Observation on Mobile Application

The Arduino Nano is a small board which can work
with a USB. Here this board is used to take two values from
the Pulse Oximeter.

Fig.10. Complete output from APK

The patients, Beats per Minute of heart and SpO2 level

is displayed in the mobile application. Since the camera is
facing in one direction an extra sensor is fixed in backside of
Fig.8. Preview of APK camera to detect the obstacle. The directions can be

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Volume 6, Issue 6, June – 2021 International Journal of Innovative Science and Research Technology
ISSN No:-2456-2165
controlled using the arrows. Since this a protype model it Dec 2020.
can take a maximum weight of 1kg. [7]. Meijun shu,jiarui Lu ,"Health digital technology in
COVID-19 pandemic: experience from China",BMJ
V. CODING innovations ,25 Aug 2020.
[8]. David Feil-seifer , Kerstin S. Haring , Silvia Rossi ,
https://docs.google.com/document/d/1ZmyAQovktP_9iXoK Alan R.Wagner , Yom Williams ,"Where to Next? The
vYscwREdV02LpHriE8TAq4xPlIA/edit?usp=sharing Impact of COVID-19 on Human-Robot Interaction
https://docs.google.com/document/d/1Ri4Au3BtoX- Research"ACM Trans. Hum.-Robot Interact. 10, 1,
8gK6y9O6aqbZmdf8cdd-bPanPlAgu3SQ/edit?usp=sharing Article 1 (June 2020), 7 pages.
[9]. Zeashan Hameed Khan,Afifa Siddique,Chang Won Lee
VI. CONCLUSION , "Robotics Utilization for Healthcare Digitization in
Global COVID-19 Management" , International
The covid has taken whole parts of the world, all age journal on Environmental Research and Public Health
groups. It is our need to fight the battle againt the covid-19 ,28 May 2020.
virus. As a support to the health care workers, the smart [10]. Maria Pia Fanti , Agostino Marcello Mangini , Michele
delivering robot is specially designed robot for isolation Roccotelli,Bartolomeo Silvestri ,"Hospital Drug
ward to deliver food , medicine and other essentials. The Distribution with Autonomous Robot vehicles" , 2020
control and navigation through the android application 16th IEEE International Conference on Automation
developed by user accomplish tasks of robot. The robot can Science and Engineering (CASE) , August 20-21,
lower person to person interaction which bring down risk as 2020, Online Zoom Meeting .
well as spreading of infection. Instead of health care [11]. Seohyun Jeon,Jaeyeon Lee"Vehicle routing problem
professionals , robot can execute tasks under decontaminated with pickup and delivery of multiple robots for
state. In addition , an Oximeter is deployed inside the robot hospital logistics" , 2016 16th International conference
to asses the oxygen level in patients body. With this on control automation and Systems (ICCAS) , 26
implementation, the disease can be lowered. This model January 2017
what we implemented is a prototype model. More space can [12]. Georgios Angelopoulos , Georgios Theodoros
be provided for the robot to give more services to patients. Kalampokis , Minas Dasygenis ,"An Internet of Things
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