Design and Construction of Desinfiction Robot for Hospitals

Document Type : Original Article

Authors

Faculty of Engineering, Ain Shams University, Department of Mechatronics, Egypt.

10.21608/iugrc.2021.246551

Abstract

The global COVID-19 pandemic due to the novel coronavirus SARS-CoV-2 has challenged the availability of traditional surface disinfectants. It has also stimulated the production of ultraviolet-disinfection robots by companies and institutions. These robots are increasingly advocated as a simple solution for the immediate disinfection of rooms and spaces of all surfaces in one process and as such they seem attractive to hospital management, The work presented in this paper, demonstrates the construction of a two-wheel differential drive robot that works The robot is driven by two DC motors and equipped by an IMU sensor to sense the rotation angle of the robot, it also contains a pump, tank and spray system as well as UV lamp connected to an inverter from the battery. It also has a PIR system that covers 360 degrees around the robot to detect humans for safety as UV doesn’t work in human presence. A PID-controller has been designed with the function to stabilize the two-wheeled robot. To control its motion. The value of the PID-controller gains has been tuned through several experiment. It has a high level controller consisting of Raspberry Pi set up with Ros and low level controller consisting of 2 Arduino Megs. The constructed two-wheel deferential drive robot prototype is capable of mapping the hospital or location and autonomies motion to destination and disinfection and sterilization of surfaces at location.

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