2022 3rd Int. Conf.

on Innovations in Science, Engineering and Technology (ICISET)

26-27 February 2022, Chittagong, Bangladesh

Design and Implementation of Surface Disinfection

Robot Using UVC Light and Liquid Sanitizer
2022 International Conference on Innovations in Science, Engineering and Technology (ICISET) | 978-1-6654-8397-1/22/$31.00 ©2022 IEEE | DOI: 10.1109/ICISET54810.2022.9775838

Fahim Bin Rahman Anik Das Md. Fakwer Uddin Mazumder

Dept. of EEE Dept. of EEE Dept. of EEE
International Islamic University International Islamic University International Islamic University
Chittagong (IIUC) Chittagong (IIUC) Chittagong (IIUC)
Chittagong, Bangladesh Chittagong, Bangladesh Chittagong, Bangladesh
rahmanf172@gmail.com dasanik534@gmail.com fakwer.uddin@gmail.com

Imon Deb Nath Mohammed Abdul Kader

Dept. of EEE Dept. of EEE
International Islamic University International Islamic University
Chittagong (IIUC) Chittagong (IIUC)
Chittagong, Bangladesh Chittagong, Bangladesh
imondebnath6@gmail.com kader05cuet@gmail.com

Abstract—New general health problems jeopardize the globe are helpful approaches. Most nations have embraced such
with the growth and breakout of the 2019 novel coronavirus measures worldwide and have proven the intended impact
(2019-nCov) or the significant severe respiratory syndrome coro-
navirus 2 (SARS-Cov-2). The only way to reduce the spread in controlling the escalation of disease and asymptomatic
of the virus is to maintain social distance and follow the rules infection cases. However, the absence of treatment, high
set by our respective governments. However, manual disinfection fatality rates and the overall spread of this infection of
is time-consuming, challenging, and poses safety dangers. Using COVID-19 need to develop an effective and easy strategy to
robots for disinfection consequently becomes an appealing option.
Furthermore, the robot can sanitize a location incredibly fast
prevent and stop. To avoid this imperfection, an innovative
without exposing ourselves. So, in this research, we constructed idea is necessary with less human cooperation to decrease
a sanitization robot that would eliminate the coronavirus in the the possibility of infection spreading. Amid this worldwide
hospital and apartment building or elsewhere. In this study, we epidemic, stepping in where people should not, robots are
have developed an Arduino-based wireless robot where UVC being utilized for activities such as sterilizing hospitals and
Light and Liquid Sanitizer are utilized for eradicating the
coronavirus. A servo motor, gear motors, wheels, and L298 transporting food and medications and have shown to be
motor driver module are employed for distinct purposes of the beneficial and convenient. From a technological perspective,
robot. Moreover, two mobile phones are used as IP Cameras for the deployment of robots is a part of the preventive strategy
monitoring the robot. Thus, our robot can be employed for the to overcome the induced challenges and enhance the
sanitization procedure so that physical appearance will not be
effectiveness of battling the COVID-19 pandemic. Many
necessary.
robots have undertaken several critical duties and vital
Index Terms—Corona Virus, Sanitization, Micro-controller,
UV-light, Disinfection Robot functions during the last year via diverse techniques [2].
Sanitization has become a significant component in these
I. I NTRODUCTION pandemic times and plays a critical role in keeping us from
Since late 2019, the outbreak of the new coronavirus exposure to this deadly virus, so assisting in eradicating this
epidemic (COVID-19) has become a global pandemic, which worldwide pandemic is crucial. One of the high-risk zones
causes significant strain to the public healthcare system of exposure to this fatal virus is in the areas where people
worldwide. By 25 November 2021, there were 258,164,425 rush for treatment, which are the hospitals and the medical
confirmed cases and 5,166,192 fatalities, with 662,163 daily wards. Sanitization in these locations is extremely tough
rises in new cases recorded by World Health Organization and needs very high precautions to be followed. However,
[1]. With no miracle cure and universal vaccination coverage after economies reopen, public gathering locations such as
insight, because of supply limits and viral varieties, one of airports, event sites, public transportation, transit stations,
the crucial strategies to curb the spread of COVID-19 and schools, markets, and workplaces also play a critical role
other infectious illnesses is to prevent healthy people from in preventing diseases. Because frequently-touched surfaces
being sick. For example, avoiding unnecessary interpersonal such as doorknobs, handrails, elevator buttons, faucet handles,
interactions, terminal disinfection, and isolation of infection chairs, tables, Etc., are more likely to be contaminated.
Using the UV disinfectant will help health officials lower the

© IEEE 2022. This article is free to access and download, along with
rights for full text and data mining, re-use and analysis.
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transmission in health care settings like hospitals as a critical
area where patients congregated [3]. The usage of Robots in Smart Phone
the sanitization process has provided a safer environment for
humans. The report [4] tells about an office suite in North
America being sterilized by installing permanent UV lights in
various spots in the workplace. They claim to be one of the
most hygienic areas in North America. UV is installed aiming
at the ceiling to disinfect the air, and other UV lamps only
turn on when no one is in the room. They suggest that this will
assist in zapping microorganisms on keyboards, workstations,
workplaces, and high-touch surfaces in restrooms. In paper
ATMEGA-328P
[5], 34 scientific articles on diverse technical UV systems
that have been created to decrease the spread of diseases
were synthesized, out of which 21 percent of the articles
are about public area disinfection. A study employing the nRF24l01
evolution of technology to design and construct infrared
thermal scanning using a camera is discussed in [6]. The
research team [7] constructed a UV bot with three UV lights
positioned on the top platform spanning 360° orientation. Push Button
This bot is meant for sterilizing in an operating or a patient
room. However, the robot needs an internet connection and Fig. 1: Block Diagram of the Transmitter Section.
operates through the webpage. Numerous techniques of
infection spread and studies [8]–[11] have shown that the

nRF24l01
significant source of touch surface is coming from direct

Servo
tough of door handles or cabinets, remote control, call button
for support, Etc. [12]–[15]. Internet of Things, notably in
health care and medical industries, has been viewed by many
Water Pump

1
people due to its support in monitoring, regulating, and Smart Phone
preventing pandemics [16]–[18]. This research aims to limit
human involvement as much as possible, therefore automating
the chores such as sanitization with robots. The primary ATMEGA-328P
contribution of this research is the design and development of

UVC
a revolutionary, cost-effective autonomous disinfection robot
Relay

system for large disinfection applications. In this situation,

the deployment of robots may decrease human exposure
to viruses, which has become more crucial as epidemics
spreads. In this study, we used the Arduino development
board to operate the system and the NRF24L01 module to
communicate between the robot and the controlling device.
Furthermore, the robot employs powerful UV lights and sprays
liquid sanitizer, which may work against the COVID-19 virus. Dc Gear L298 Dc Gear
Motor Motor
II. OVERVIEW OF THE SYSTEM
”Fig: 1” illustrates the graphical representation of the trans-
mitter unit or our controller. The transmitter unit comprises Dc Gear
ar M
Motor
otor
one 2.4GHZ nRF24L01 module, pushbuttons, and a smart-
phone. nRF24L01 and push-button are attached as peripheral Fig. 2: Block Diagram of the Receiver Section.
devices to a microcontroller (ATmega328p). The pushbuttons
are used to control our robot. The nRF module is used in
the transmitter portion, which sends data to the reception unit. driver (L298) to operate our robot’s wheel gear motors. It also
A smartphone has been used to watch live streams captured contains a water pump attached to the Arduino through a relay
through the IP camera. module. It also features ultraviolet C (UVC) light and an IP
The block diagram of the receiver unit is depicted in “Fig: camera (Smartphone) via which we can see the live stream on
2”. Here, we have another nRF module that receives the data receiving mobile. Motor driver, Relay module, nRF24L01, and
from the transmitter unit. In this section, we employed a motor UVC light are attached to a microcontroller (ATmega328p) as

118
peripheral devices. The goal of the transmitter circuit is to monitor whether
any push-button is pushed. If any push button is pushed,
III. M ETHODOLOGY it will transfer the information to the receiver circuit. The
This section covers the approach used to construct the ATmega328P microcontroller is incorporated in this design. It
system prototype. This system is separated into two parts: the is a 10-bit microcontroller with 14 digital I/O pins and 6 analog
transmitting and receiving portions. Where the transmitter part pins. The interconnections of multiple peripheral devices, such
is our controller and receiving section is our robot. as the nRF transmitter module and 9 push-button with the
microcontroller, are depicted in ”Fig. 3”. An ATmega328P
A. Transmitting Section also utilized in the receiving circuit. The desired features of
The transmitting portion, called the admin section, belongs the microcontroller for the receiver circuit are digital I/O pins
to the owner or person operating the robot and monitoring to interface relay, PWM pin to attach motor driver, MISO,
it. As we can see from “Fig. 7”, there are several buttons, MOSI, SCK, CSN, CE pins to interface nRF module. All
each of which is utilized for distinct functions. To drive the the connections of the components in the receiver circuit are
robot left, right, forward, backward, and stop, there are five represented in ”Fig. 4”. It should also be indicated in the
pushbuttons, which we indicate in “fig. 7”. A button is used to prototype.
regulate Ultraviolet C (UVC) light. Another switch was placed
here to turn on and off the water pump. Two buttons are for
Push Button
shifting nozzles left and right to spray effortlessly. Each button
15 14
does work according to the programs that we have specified. csn OC1A ICP1
16 13
Push Button Push Button GND
These buttons allow us to navigate the robot smoothly. For 17
SS AIN1
12
mosi MOSI RX
wireless remote communication, there is an nRF24L01 that miso 18
MISO TX
11
Push Button
Push Button
transmits data toward the receiving device. nRF24L01 is a sck 19
SCK TOSC2
10
20 9
wireless transceiver module (runs on SPI Interface). This nRF 21
AVCC TOSC1
8 Push Button
ATMEGA 328P
AREF GND Push Button
is utilized here as a transmitter. It has a 2.4 GHz frequency, and 22
GND VCC
7

its range is approximately 1 kilometer, which is adequate for 23

A0 XCK/T0
6
Push Button
24 5
us. So, at a distance of 1 kilometer, we can effectively control 25
A1 INT1
4
our robot. However, it is tough to see what is occurring in front A2 INT0 ce Push Button
26 3
A3 PD! +3.3V
of the robot and sanitize someone if the robot is not close. So, 27
A4/SDA PD0
2 1
GND VCC
2

28 1 3 4
we have implemented an IP camera (Smartphone) in our study A5/SCL RESET ce CE CSN csn
5 6
for monitoring reasons. We also utilize a smartphone in the sck 7
SCK MOSI
8
mosi
miso MISO IRQ
transmitting unit to display its output. With this, we can easily
see live data and operate our robot according to our demands. NRF24L01
These components are linked to the microcontroller I/O pins, Fig. 3: Circuit Diagram of Transmitter Section.
also via MOSI, MISO, and SCK.

B. Receiving Section
The receiving portion, designated as the public section,
belongs to the public or those who need to be sanitized. DC Gear L298N MOTOR DRIVER
Motor
From “Fig. 8”, we can see an nRF24L01, which operates 12 OUT_1+ -2_OUT 11 8
IRQ MISO
7
miso
DC Gear Motor

6 5
mos MOSI SCK sck
as a receiver and receives data from the transmitting unit. 13 OUT_1- +2_OUT 10 csn 4
CSN CE
3
ce
2 1
Four DC gear motors are employed to move the robot. These VCC GND
2 GND

ENB
ENA
1 12V

IN1
IN2
IN3
IN4

+3.3V
3 5V

four motors are coupled to the L298 motor driver. A relay NRF24L01
4
5
6
7
8
9

module is used to operate a dc water pump. The water pump

DC Gear Motor

1 28
RESET A5/SCL
is employed to pump up the liquid sanitizer from the sanitizer
12V
DC Gear

5V
5V

5V

2 27
w
z
w
y
x
Motor

PD0 A4/SDA
3 26
z
chamber. Here we used a servo motor to operate the pump y 4
PD!
INT0
A3
A2
25
BATTERY x 5 24
nozzle so that one may be conveniently sanitized by it. The 6
INT1 A1
23
1 GND XCK/T0 A0
servo motor enables the nozzle to move left and right quickly, 7 22
5v

VCC GND
-

8 21
2 VCC
3
2
1

controlled by the admin section. We have employed some GND AREF

+

9 20
W

.
R
B

TOSC1 AVCC
.

10 19
UVC lights parallelly linked to each other and connected their sck
SIG
V+
GND

TOSC2 SCK
Water Pump
Relay

11 18
TX MISO miso
two terminals with a relay. All these components are linked .
c 12

13
RX MOSI
17

16
mos
csn S
to the microcontroller’s I/O ports. We have also used MOSI, c ce 14
AIN1
ICP1
SS
OC1A
15
V
GND
IN
VCC

MISO, and SCK PIN for nRF.

5V
V

UVC SERVO ATMEGA 328P

C. Circuit Diagram of the system
Fig. 4: Circuit Diagram of Receiver Section.
The simplified circuit diagram of the transmitter and re-
ceiver circuit is provided in ”Fig. 3” and ”Fig. 4” accordingly.

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 IV. P ROGRAMMING , I MPLEMENTATION & R ESULT B. Result & Analysis
The system is developed and tested, and some prototype
A. Flowchart
photographs are presented in ”Fig. 7” and ”Fig. 8”. The NRF
”Fig. 5” and ”Fig. 6” respectively depict the program’s module and Microcontroller are integrated on Veroboard in
flowchart uploaded into the microcontroller for both the trans- the transmitter and reception section. All other equipment is
mitter and receiver circuits. The programs are developed at respectively arranged on the wooden board as the prototype.
ARDUINO IDE software. In the fundamental framework of Since the equipment’s situated in such a manner, it may be
the program, there are two functions: void setup() and void either detached or installed if they are to be changed. The
loop(). The commands are written in void setup() runs just one nRF24L01 of the transmission portion transfers the data to
time. However, on the other hand, the commands are written receiving component.
in a void loop() continually executed by the microcontroller.

Antenna Power Supply

Start

nRF24L01
Define Variables Transmit Data Turn Left
Through nRF24L01
Forward
Define I/O Pins
Stop Turn Right
UVC Light
Move N
M Nozzle
l right
i ht
A A
Backward
Reading Data End Mobile
M bil Stand
St d Liquid
Move Nozzle left Sanitizer
If Any Push
Button Pressed
Smart Phone As Output
Fig. 5: Flowchart of the code that has been put into the
microcontroller (Transmitter).
Fig. 7: Complete Overview of the Transmitter section.

From ”Fig. 7,” we can see that there are 5 switches used
Start to regulate DC motors to move the robot forward, backward,
right, left, and stop it. One button is to on/off the UVC light.
Define Variables Check Value One button is to shift the nozzle of the sanitizer right, and
another one is for the left. The last one is to turn on the
Define I/O Pins Yes water pump to spray liquid sanitizer from the tank. Here,
in the receiving portion, we have used a smartphone as our
C Robot Moving/ IP camera to capture the video in front of our robot, which
Controlling Pump/ will assist us in managing our robot efficiently. Furthermore,
Received UVC Control in the transmitting unit, we have used another Smartphone
Data Though to see the live stream. Both mobiles are connected using
nRF24L01 C software named ”IP webcam.” We can utilize any smart device
like mobile, laptop, tab, etc., for monitoring purposes. An
No End SMPS (Switch Mode Power Supply) device is utilized for
delivering power to the transmitter. When a particular location
Fig. 6: Flowchart of the code that has been put into the required sanitization, we dispatched our robot there. Then
microcontroller (Receiver). after choosing the appropriate spot, we hit the button for
the UVC light. Thus, UVC light becomes active, and the
In ”Fig. 5”, it shows that the transmitter unit’s microcon- sanitization process will run. Here we used UVC light and
troller continually reads whether any button from the controller liquid sanitizer to eradicate the coronavirus. Recent studies
is pushed and sends it to the receiver microcontroller using show that Ultra-violet radiation (UVC) efficiently exhibits
the nRF transmitter. Finally, in ”Fig. 6”, we can see that antiviral action against pathogens. Moreover, UVC irradia-
after receiving the data from the transmitter, the receiver tion with high energy and short wavelengths, notably in the
microcontroller will verify the value and perform the relevant 200–290nm region, holds enormous potential for germicidal
instruction. If the value is addressed and transmitted correctly, eradication. These features of UVC enable damage or destroy
then the sanitization procedure and movement of the robot will the nucleic acids (DNA/RNA) in varied germs (e.g., bacteria,
be resumed, otherwise not. fungus, and viruses). UVC light can consequently be employed

120
 Mobile For Capturing View
decreased considerably. The components can be designed on
L298 Motor Driver a PCB board. So, in this situation, the cost would reach about
Servo with
Sanitizer Storage
Clamp
Tk.4075, which will be effective as it has a minimal cost.
However, a complete feasibility assessment is necessary for
the analysis. Table.1 displays the entire cost of the hardware
of this prototype.
Bttery

TABLE I: PRICE ESTIMATION OF THE SUGGESTED

SYSTEM
UVC
SL Component Name Quantity Price (BDT)
ATMEGA328P Item 1 ATmega328P 2 880tk
Item 2 nRF24L01 2 400tk
Relay
Item 3 Ultraviolet C (UVC) light 1 600tk
Item 4 DC Pump 1 160tk
Gear Motor
with Wheel Sanitizer Pump Item 5 Gear Motor 2 160tk
nRF24l01 with Antenna
Item 6 Motor Driver (L298) 2 300tk
Item 7 Wheel 2 120tk
(a) Item 8 Relay Module 1 55tk
Item 9 Lithium ion battery (3.7*3)V 3 300tk
Item 10 IP camera 1 700tk
Total Installation Cost 3675tk
Miscellaneous Cost 400TK

Total cost= Total Installation Cost + Additional Cost=

(3675+400) =4075Tk.
Which is approximately 48$ dollar.

C ONCLUSION
The sanitization and disinfection process is too essential
in this covid pandemic circumstance. The virus that causes
COVID-19 can quickly spread on land and surfaces. People
can become infected if they touch certain surfaces and then
touch their nose, mouth, or eyes. When people are directly
engaged in the sanitization process, there is a significant
probability of being impacted by the virus. In this circum-
stance surface disinfection robot is the best solution. This
research was meant to make the sanitization procedure risk-
free and protect humans from the Coronavirus. It will be im-
plemented with the current disinfection procedure to minimize
(b) dependence on human employees and enhance throughput.
Fig. 8: Complete Overview of the Receiver section. This research can be further enhanced in the future. The
obstacle detecting system may be incorporated to move the
robot autonomously. This robot is only useful on smooth
as a promising method for preventing and controlling the surfaces presently. However, when a belt system is employed
infestation or spread of novel coronavirus (2019-nCov). [19]– for controlling robot chassis, it can be applied to any surface.
[21]. However, UVC lamps that emit approximately more than We may also utilize internet of things (IoT) based networking
240 nm can be a health hazard for both skin and eyes [22], technology to operate the robot from any location. Thus, many
[23]. But, UVC light (207 to 222 nm) has been demonstrated more features may be included in the future in this system.
to be equally effective as usual germicidal UV light in killing
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