29 The ZAPPY Disinfection Bot for Modern Healthcare System
V. Jamuna, S. Sivajothi Kavitha*, D.Usha Asha M, Priyanka K Jerusalem College of Engineering, Chennai, Tamil Nadu India
* Corresponding author: [email protected] Abstract
Integrating robotics into healthcare and sanitization practises has helped to slow the spread of disease.
These robots are mostly used in hospitals and other comparable facilities during quarantine to reduce person-to-person contact and to ensure cleaning, sterilisation, and support. By doing this, the risk to the lives of medical professionals who are actively managing the pandemic will be reduced. In this work, a novel idea of installing a robot called "Zappy Bot" to clean up the hospital and public spaces is proposed.
With the help of this Zappy disinfectant bot, humans may be observed in real time while also being effec- tively disinfected.The disinfection robot has a motion sensor that it uses to disinfect the area while avoid- ing people. This is employed in a planned manner.
Keywords: Motion sensor, Pandemic, Disinfectant Bot, Zappy Introduction
The proposed concept focuses on deploying disinfection robots to effectively monitor and clean hospital floors and hallways (ZAPPY). The SARS-CoV-2 virus that causes the condition known as Covid-19 is primarily spread by aero- sols. Five steps have been taken to slow the virus' transmission during the pandemic:
• Large-scale testing,
• Quarantine,
• Sanitation,
• Social alienation
• Sanitary assistance.
The most hazardous method is the physical one, as manually cleaning a patient's room can have negative effects on hospital staff members as well as health professionals. A consistent and differ- ential space sterilisation method based on the contamination likelihood is desired to increase the disinfection efficiency. However, because of la- bour restrictions, reaching this aim through tradi- tional quarantine would be challenging. However, the cleaning is made simple by our disinfection robots, who also shield staff members and health workers from the harmful bacteria.
An environmental component such as tempera- ture, relative humidity, organic load, pH, surface topography, water hardness, or the presence of
other chemical compounds will affect how effi- cient a disinfection strategy is. To solve this prob- lem, we present an autonomous disinfection robot outfitted with IR sensor and Ultrasonic sensor technologies. This technology enables the system to identify high-risk polluted locations and, as a result, apply alternative sterilising techniques.
Literature Survey
Khabibulh Nosirove [1] developed a model for robot-disinfector. The robot was inspired from a technique which consists of disinfecting places autonomously. In 2019, Pacharwan Chanprakan et.al [2] introduced the concept of Ultraviolet (UV) sterilization technology to aid in the reduction of microorganisms that may remain on the surfaces after a standard cleaning to the minimum number.
A new approach for the development of health care robots was proposed by Ho Sauk Ann et.al in the year 2017 [3] titled “Health care Robot System for a Hospital Environment” which was named as “Care bot” and “Reception Bot” for health care facility environments. The Idea of
“Use of Robotics as a tool for Sanitization and Lagoon conservation “[4] was proposed by the Jose Louis Hernandez Ameca, et.al in the year 2017. It presented the first version of the autono- mous robot "JARV-1" designed to collaborate in
30 the sanitation and conservation of lagoons. Ali
Gurcan Ozkil, et.al [5] introduced the concept of
“Service Robots for Hospitals: A case study of transportation tasks in a hospital”. They explained about the need for automated transportation sys- tems for hospitals. Pranav Ravi et.al introduced the concept of “Design and Simulation of Medical Assistant Robot for Combating Covid 19” [6].
They have elaborated the idea of number of ap- plications for a humanoid robot and the area where humanoid robots could be used. The Idea of “Design and Implementation of an IOT based medical Assistant Robot (Aido-Bot) ”[7] was intro- duced by Md. Anowar Husain, et.al in the year 2020.
Muhammad Kashif Shaikh Ghaffar et al (2019) [10] fabricated the floor cleaning machine. The detailed design and development concept was presented by them. Designing and Optimization of An Autonomous Vacuum Floor Cleaning Robot was developed by Shakhawat Hossen Prayash et al [11]. It was able to clean the floor autonomous- ly in an optimized manner. In the year 2018, Ala- din Begić at al [12] presented the application of service robots for disinfection in medical institu- tions. The role of service robots and robotic sys- tems in the treatment of patients in medical insti- tutions was explained by Karabegović et al (2016) [13]. Bharadwaj et al (2015) [14] developed the system for the safe disposal of no0n-bio de- gradable waste and its impact. Path Planning Algorithm Development for Autonomous Vacuum cleaner Robots was developed by Kazi Mahmud Hasan et al (2014) [15]. In the year 2017, Jamuna et al [16] proposed the high gain boost converter system to enhance the performance of the sys- tem.
All the above literature dealt with various sensors for monitoring the disinfection of daily activities in hospital. They have implemented UV technolo- gy for the reduction of microorganisms that may remain on the surfaces after a standard cleaning in the hospital. The idea to sanitize a greater area with a design implementation of functional test with the robotic tool was also discussed. The idea
of service robots for hospital was implemented with the impression of mobile robots for the steri- lization in hospital of the patient ward. All the above literature do not deal with an integrated system for disinfection thereby leading to in- creased cost.
In the present work efforts are taken to design and implement an integrated robot system to detect the presence of human and other objects and turn ON/OFF the disinfectant spray only on objects without disturbing the humans. The disin- fectant robot is equipped with motion sensor (i.e) the IR sensors which are mainly used to disinfect the place by not affecting the human or disturbing them. It sprays for a particular time at a particular spot. Once the fumigation is finished at one spot then the robot moves to the next place for fumiga- tion. In comparison with other methods, infrared radiation technology is preferred in the present work as it includes shorter cycle time, lower ener- gy consumption, and no toxicological or environ- mental effects as they cannot penetrate sub- stances and can only be used in sterilizing sur- faces.
Method
The need for a proper cleaning mechanism is becoming unavoidable due to the rising risks of pathogens and microbial infections in public spaces like schools, colleges, public restrooms, and hospitals.
This mechanism can keep the lives of cleansing personnel who're concerned with inside the sani- tization and dusting methods and are much more likely to end up poisoned via way of means of those dangerous pathogens, which could have an effect on their frame capabilities and every so often bring about their death.
31 Figure. 1. A schematic representation of zappy
bot
The key principle behind the ultrasonic sensor the propagation time delay between transmitter and the receiver. When there is a potential blockage the propagation delay will change according to the size of the blockage.
Figure 2. Principle behind the ultrasonic sensor Source:[8]
The ultrasonic sensor has a transmitter and re- ceiver. Transmitter produces ultrasonic waves if there a block presents in front of the ultrasonic waves shall be reflected back which is in turn compared with no block condition. Only inside the detecting area is sensing possible. The potenti- ometer on the sensor shall be modified to perform in the desired range of sensing level. The output will change state and the embedded LED will illuminate if an object is detected inside the pre- determined area.
An electric machine that produces infrared mild to experience positive capabilities of its surround- ings is known as a sensor. An IR sensor can
screen an object's warmness whilst additionally recognizing movement. These styles of sensors are known as passive IR sensors, seeing that they do now no longer emit infrared radiation;
instead, they simply degree it. Typically, all ob- jects emit a few types of thermal radiation with inside the infrared range.
Figure.3. IR sensor Source:[9]
An infrared sensor might also additionally choose up on those radiations, which can be invisible to human vision. The detector is simply an IR pho- todiode this is touchy to IR mild of the equal wavelength as that emitted with the aid of using the IR LED, and the emitter is simply an IR LED.
The resistances and output voltages whilst IR mild moves the photodiode will range proportion- ally to the depth of the IR mild received.
Figure.4. IR sensor circuit Source:[9]
A device or instrument that can measure the pressure in gases or liquids is called a pressure sensor. Based on the measurement of the ap- plied pressure, a pressure sensor will produce a signal. Pressure transducers have a sensing element of constant area and respond to force applied to this area by fluid pressure. The force applied will deflect the diaphragm inside the pres-
32 sure transducer. The deflection of the internal
diaphragm is measured and converted into an electrical output. This allows the pressure to be monitored by microprocessors, programmable controllers and computers along with similar elec- tronic instruments.
Different types of microprocessors and controllers are used in Arduino board designs. The boards come with a variety of extension boards (called
"shields"), breadboards (for prototyping), and other circuits that can be interfaced to the sets of digital and analogue input/output (I/O) pins on the boards. The forums function serial communica- tions interfaces, which include Universal Serial Bus (USB) on a few models, which can be exten- sively utilized for loading programs.
Figure.5 Ardunio
The block diagram of the proposed system is implemented in real time. The UV light is used as a primary disinfector which is attached at the front of two Connors. A pair of IR sensor of type AMN44121 is implanted in order to checks for the presence of human, in general, detects infrared radiation from surrounding area of specific range.
A pair of Ultrasonic sensors is also used to find the distance between the robot and the target in the path of the robot.A 6 channel REES52 dc 5V relay modules that automatically control the cir- cuit and regulate a high current using a low cur- rent signal. The relay signal's input voltage spans the 0 to 5V range. The robot is moved along the desired path using a servomotor. Robots need to
rotate the motor shaft to a particular angle pre- cisely. Hence a motor which provides the position information, which in-turn can be used to control the motor, is called a servo motor. A pair of pres- sure sensor of type SSCDANN015PAAA5 is used in order to find the movement behind the robot and to converting pressure into analogue electri- cal signal. The DC pump with the sanitizer works on the principle that mainly depends upon the positive displacement principle as well as kinetic energy to push the sanitizer. These pumps use the DC power otherwise AC power. An HC- 05 Bluetooth module is used for the wireless communication and also for the autonomous control of the robot. Arduino UNO AT mega 328p is used because of its 8-bit RISC heart of the Arduino Uno and Nano, with a maximum clock frequency of 20MHz, 32KB program FLASH, and 2kB of RAM.
Figure.6. Block Diagram for the zappy disinfect- ant bot
33 In addition to a textual content editor for writing
code, a message area, a textual content console, a toolbar with buttons for often used operations, and some of the menus, the Arduino Integrated Development Environment, sometimes called the Arduino Software (IDE), is likewise available. In order to add programs and speak with them, it connects to the Arduino hardware. Sketches are pc programs created in the usage of the Arduino Software (IDE). The textual content editor is used to create those sketches, which might be then stored with the document extension. The editor gives features for textual content substitute and textual content searching.
When saving and exporting, the message seg- ment offers remarks and suggests errors. The console suggests textual content generated through the Arduino Software (IDE), which in- cludes mistakes messages of their entirety and different statistics. Libraries offer drawings to get entry to extra functionality, like because the cap potential to govern statistics or paintings with hardware. Choose a library from the Drawing Sgt;
Import Library menu to utilize it in a comic strip.
By doing this, you could upload one or more
#consist of statements to the pinnacle of your comic strip and collect it collectively with the li- brary. Libraries growth the quantity of area your comic strip calls for due to the fact they're submit- ted to the board with it. Simply take away the library's #consist of declarations from the pinnacle of your code if a comic strip not calls for it.
Figure.7. Output of Arduino
Results and Discussion
To prevent the spread of bacteria and viruses, a disinfectant robot that is both affordable and effi- cient has been created. It can go along a prede- termined course and access hard-to-reach loca- tions for effective disinfection. The disinfection robot has (motion sensor) IR sensors that are primarily used to disinfect areas without harming or upsetting people. These IR sensors are put on the robot's top to detect any movement (human or animal) and automatically shut off the spray. The robot is made to follow a predetermined path that the user has set (the nurse or the caretaker). As soon as the robot is turned ON, the cleaning pro- cess begins.
Following the marked line, the robot moves to the next directed position once the fumigation of a specific area is completed. This procedure is repeated until the room or area has been thor- oughly fumigated. If a person or animal enters the operational space while the area is being disin- fected, a command is issued to the robot, which then turns OFF automatically.
34 Figure.8. Hardware Output of the IR Sensor
Figure.9. Hardware Output of the Ultrasonic sensor
Figure.10. Hardware Output of the BOT
The primary purpose of Zappy Bot which is an Autonomous Disinfectant bot is to give an effi-
cient pathogens free surface. The sanitizer spray- ing and UV-C disinfectant technology system is dsigned such that it has maximum cleaning effi- ciency and less power consumption. Special function of BOT is that it will sanitize walls also, upto 5-6 feet height. Hence, it is covering maxi- mum area for disinfection. No unnecessary use of sanitizer is done, soles sanitizer is used. It is working on both simple and complex path.The most important feature is touch-less control sys- tem so that there is no direct involvement of hu- man.
Conclusion
Robots are used to minimize human interaction because the current pandemic's preventive and treatment focus on distance. The data is mixed, alt- hough there is some possibility for using robots to assist with manual cleaning. Droplets and contact with infected surfaces can both spread the diseases.
There is a need for more frequent and thorough cleaning of interior surfaces, for instance, in schools, nursing homes, and medical facilities, to help stop the spread. Human exposure to potentially contaminated surfaces must also be decreased. As a result, clean- ing and disinfection robots are now more popular in these situations.
As the time pass-on, innovations and develop- ments are done for making technology more and more accurate and handy. The same is with cleaning industry where new and more efficient development are going on for making human life safer and protect- ed. The autonomous disinfection robot can also be made more self-dependent by analyzing the crowd around with the development of crowd identification module and implementation of suitable innovation for pathogen and dust identification for the measurement of the cleaning efficiency. A proper Ceiling covering mechanism can be invented which can disinfect the upper half of the room with the same efficiency as the floors and many more out of the box inventions can be implemented for making cleaning mechanisms a reliable, healthier and efficient.
35 References
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