PROTOTYPE for QUADRUPED ROBOT USING Iot to DELIVER MEDICINES and ESSENTIALS to COVID-19 PATIENT

Home , Android (robot)

International Journal of Advanced Research in Engineering and Technology (IJARET) 4Volume 12, Issue 5, May 2021, pp. 147-155, Article ID: IJARET_12_05_014 Available online at https://iaeme.com/Home/issue/IJARET?Volume=12&Issue=5 ISSN Print: 0976-6480 and ISSN Online: 0976-6499 DOI: 10.34218/IJARET.12.5.2021.014

PROTOTYPE FOR QUADRUPED ROBOT USING IoT TO DELIVER MEDICINES AND ESSENTIALS TO COVID-19 PATIENT

Anita Chaudhari, Jeet Thakur and Pratiksha Mhatre Department of Information Technology, St. John College of Engineering and Management, Palghar, Maharashtra, India

ABSTRACT The Wheeled robots cannot work properly on the rocky surface or uneven surface. They consume a lot of power and struggle when they go on rocky surface. To tackle the disadvantages of wheeled robot we replaced the wheels like shaped legs with the spider legs or spider arms. Quadruped robot has complicated moving patterns and it can also move on surfaces where wheeled shaped robots would fail. They can easily walk on rocky or uneven surface. The main purpose of the project is to develop a consistent platform that enables the implementation of steady and fast static/dynamic walking on ground/Platform to deliver medicines to covid-19 patients. The main advantage of spider robot also called as quadruped robot is that it is Bluetooth controlled robot, through the android application, we can control robot from anywhere; it avoids the obstacle using ultrasonic sensor. Key words: Bluetooth module, Quadruped, Rough-terrain robots. Cite this Article: Anita Chaudhari, Jeet Thakur and Pratiksha Mhatre, Prototype for Quadruped Robot using IoT to Deliver Medicines and Essentials to Covid-19 Patient, International Journal of Advanced Research in Engineering and Technology, 12(5), 2021, pp. 147-155. https://iaeme.com/Home/issue/IJARET?Volume=12&Issue=5

1. INTRODUCTION There are situations where wheeled robots cannot move, so there is a requirement of mobile platforms that can move in areas with difficult terrain surrounding where wheeled robots find it difficult for movement. Examples of such circumstances can be found in search and retrieve job, and in counting transferring packages. The fundamental aim of the proposed paper is to explain an innovative, flexible and realistic model of a spider shaped robot for delivering medicines to covid patients. The purpose is to design an inexpensive model, that allows to examine and test the movement frame and deliver medicines to the covid patients. The robot should be operating

https://iaeme.com/Home/journal/IJARET 147 [email protected] Prototype for Quadruped Robot using IoT to Deliver Medicines and Essentials to Covid-19 Patient from the remote location with the help of android application and the ultrasonic sensor is used for avoid the obstacle. In sight of the well-being and treatment of patients and the delivery of medicines according to the schedule, delivery in various wards of hospitals using robotic methodology is analysed in this task with the instruction of sensors. Since we are using android application to operate the robot, it will not collide with any other obstacle or human being as it senses the obstacle before it would collide with the help of ultrasonic sensor. It will also help people to not come in contact with other people. With the help of this method, we would ensure that the disease will not spread while the medicine delivery.

2. LITERATURE REVIEW In 2016, Mr.V.Arun, Mr. S.V.S. Prasad, G. Sridhar Reddy, L.Ruthwik Reddy, M. Venkatesh, M. Sai Pavan Kumar explained a report is about Arduino based Quadruped Robot in which basically they have made use of spider shaped legs over wheels. spider robots proposed the capability to traverse in difficult landscape, and their improvement is been seen in this field lately. However, such latest chores have utilized the impression that either the robot has complete understanding of the surrounding or the surrounding is appropriate frequent that can be traversed with only minimum impression. In this report we introduce an integrated representation and structure for a spider robot that helps it to grasp and pass over previously unseen, uneven surrounding that involves vast, crooked obstacles. In year 2016, Sharda Prasad Agrawal, Haresh Dagale, Nirmal Mohan, and L. Umanand explained by their analysis paper the planning and development of the IONS (Indoor out of doors Navigation and Surveillance), a flexible, low-cost, energy efficient, statically stable quadruped system. It is basically low-cost platform with unique design, which is basically designed for civilian applications in urban and suburban settings that includes monitoring and exploration of the area in and around a multistory building. The proposed system in this paper is equally efficient indoor as well as outdoor. The model is controlled using a web-based user interface under ubiquitous Wi-Fi network. In year 2020, Srikanth Kavirayani, Divya Sree Uddandapu, Aravind Papasani, T. Vamsi Krishna explained report is about Robot for Delivery of Medicines to Patients Using Artificial Intelligence in Health Care in which basically they build a robot to deliver the medicines in hospital ward and patients. The robot can avoid all kind obstacle including human beings, to do that they used artificial intelligence. To deliver the medicines the intelligence algorithm and sensors are used. With the help of this system, it can be very beneficial for the hospital staff as it can save a lot of time. In year 2020, B.S. Pranathi, Ananya Nair, C.S. Anushree, T.S. Chandar explained report is about SAHAYANTRA - A PATIENT ASSISTANCE ROBOT in which they have explained low cost and effective patient assistance robot which is basically a raspberry-pi based system. In this they have explained how it detects the particular needs of patient with the help of the patient’s speech input. It is detected using TensorFlow lite object detection model. In this way the proposed system ensures the safety of medical staff and nurses by reducing the risk of getting infected.

3. PROPOSED SYSTEM Our robot may be a basic illustration of the spider movements however it'll not perform precisely the same body moves since we have a tendency to victimization solely four legs rather than eight legs. Named conjointly a Quadruped robot since it's four legs and build its movements victimization these legs, the movement of every leg is expounded to the opposite legs so as to spot the robot body position and conjointly to manage the robot body stability.

https://iaeme.com/Home/journal/IJARET 148 [email protected] Anita Chaudhari, Jeet Thakur and Pratiksha Mhatre three-legged robots handle piece of ground higher than their wheeled counterparts and move in varied and philosophy ways that. However, this makes three-legged robots additional sophisticated, and fewer accessible to several manufacturers. and also, the creating value and also the high defense’s that a maker ought to pay so as to make a full body quadruped since it's supported servo motors or stepper motors and each are dearer than DC motors that would be utilized in wheeled robots. The primary objective of the system is that it can help the covid patients to deliver their medicine to them safely. So, the user doesn’t have to come in contact with infected patients and they may not get infected by the disease by coming in contact with the patient and the patient will also be able to get their medicine on time. With help of Quadruped robot, we have proposed in this paper, the robot basically will deliver the medicines to the particular patients and the movement of the robot will be controlled by the help of android application. The authority to access the application will only be given to the medical staff, doctor, nurses who will have the right to prescribe the medicines to the infected patients

4. METHODOLOGY In our research we are proposing robot, to cater current needs of covid-19 situation. We had proposed solution with minimum cost by considering few sensors and Arduino board. To control robot, android application is developed, through that application we will trace robot and deliver medicine to patient in hospital. We are also maintaining record in database about. which medicine is delivered to which patient and what time? So doctor will also monitor doses of patients about medicine.

Algorithm 1. Initially set all motors off. 2. Set far and near parameter here we set 6cm. 3. Activate camera and other sensors. 4. Check front distance, if equal to set threshold, then initiate forward, backward action and move method action. 5. Check front distance, front right with far threshold and front left with near threshold, execute turn right action. 6. Check front distance, front left with far threshold and front right with near threshold execute turn left. 7. Check front distance, front right, front left with near threshold then execute backward. 8. Only authenticated users will control our robot from anywhere.

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Figure 1. Methodology (by considering hardware)

Figure 2. Methodology (logical view) As its name defines it, our robot could be a basic illustration of the spider movements however it'll not perform precisely the same body moves since we have a tendency to square measure exploitation solely four spider legs rather than eight legs. Named conjointly a Quadruped robot since it's four legs and create its movements exploitation these legs, the movement of every leg is said to the opposite legs so as to spot the robot body position and conjointly to regulate the robot body stability. Legged robots handle piece of land higher than their wheeled counterparts and move in varied and philosophy ways in which. However, this makes three-legged robots a lot of sophisticated, and fewer accessible to several manufacturers. and also, the creating price and therefore the high depenses that a maker ought to pay so as to make a full body quadruped since it's supported servo motors or stepper motors and each square measure dearer than DC motors that would be employed in wheeled robots.

Advantages You will realize quadrupeds verdant in nature, as a result of four legs give passive stability, or the power to remain standing while not actively adjusting region. a similar is true of robots. A four-legged robot is cheaper and easier than a robot with a lot of legs, nevertheless it will still deliver the goods stability.

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Servo Motors Are the Main Actuators • A servomotor as a rotating managemental or linear controller that permits for precise control of angular or linear position, quirk and demonstrate. It consists of an appropriate motor integrated to a sensing element for position response. • It additionally needs a comparatively refined controller, usually an ardent specifically designed module which is used with servomotors. • Generally speaking, the management signal may be a sq. wave pulse train. Common frequencies for management indications are 44Hz, 50Hz, and 400Hz. • The positive pulse dimension is what determines the servo position. A positive pulse breadth of around 0.5ms can cause the servo spike to divert the maximum amount because it will to the left (generally around 45 to 90 relying upon the servo in question). • A positive pulse dimension of around a pair of 0.5ms to 3.0ms can cause the servo to divert to the proper as way because it will. • A pulse dimension of around 1.5ms can cause the servo to carry the impartial state at 0 degrees. the end result high voltage is typically one thing between a pair of 0.5 volts and 10 volts (with 3V typical) • The outcome low voltage scales from -40mV to 0V. Setting Servo Centre Position:

Figure 3. Setting Servo Centre Position 1[17] Attach a Servo Arm to the servo so gently rotate the Servo Arm right-handed till the arm stops. it's okay if the Servo Arm doesn't stop at a similar angle shown within the illustration on top of. what's necessary is that we discover the tip stop of the Servo.

Figure 4. Setting Servo Centre Position 2[17] Remove the Servo Arm from the Servo and reposition it to be perpendicular to the Servo body as shown during this illustration.

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Figure 5. Setting Servo Centre Position 3[17] Gently rotate the Servo Arm counter-clockwise till the Servo Arm is parallel with the Servo body as shown. when the Servo Arm is parallel with the Servo Body, take away the Servo Arm and set it aside for later assembly. this can be the Servo’s Centre position and it's necessary that each one eight Servos enclosed within the kit square measure centered before beginning the mePed assembly.

Android Application Android application is used to control the quadruped robot. It is mainly used to guide the robot to its desired destination or desired patient to which it has to deliver the medicine. The medicines are basically prescribed by the doctors/nurses and the intake time of the medicine by the patients are also scheduled by them. So, hence the main authority to control the application is given to the doctor and nurses.

Bluetooth module In the proposed system we have used HC-05 Bluetooth Module. With the help of Bluetooth module, we are able to connect quadruped robot to the android application with the help of Bluetooth.

Ultrasonic Senor An ultrasonic sensor is used to detect obstacles while traversing. Due to lack of availability of space, the distance between the patients is not much so there may be chance of collision of quadruped robot with the beds of other patients. So, to tackle this disadvantage the ultrasonic sensor is very useful to overcome any obstacle.

Nano Arduino Arduino is the core part the quadruped robot. it is the hardware in which all the commands to be executed by the quadruped robot are stored. Nano Arduino is connected to the servo motors, Bluetooth module, Ultrasonic sensor with the help of Jumper wires.

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5. RESULT

Figure 6. Robot movement in forward direction By clicking on forward button on the android application quadruped robot moves in the forward direction.

Figure 7 Robot Movement while taking right turn By clicking on right button on the android application quadruped robot takes the right turn.

Figure 8. Time taken by Robot for performing action

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The android application controls the quadruped robot with help of Bluetooth. To connect with quadruped robot, we first need to pair the Bluetooth module with android device. After pairing with the HC-05 Bluetooth connection, we must connect device to it. After connecting the device to it we are able to control the quadruped robot in various directions like FORWARD, BACKWARD, RIGHT, LEFT, STOP with the help of the android application.

6. CONCLUSION Android based and Bluetooth controlled Quadruped is a robot which can manure on 4 legs consisting of two servo motors on leg and can move in all four directions, it can be used for monitoring activities and fit into small spaces because of its compact size. This Quadruped robot was tested successfully to walk on 4 legs and to have an added advantage on rough terrain in comparison to wheeled robots. In future scope we will deliver the essentials and medicines based on the images of condition of patients or the patient speech input. We will also incorporate communication facility between robot and the patient and also between robot and the doctor.

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