Transportation of patients and drugs with robots in hospitals

Line follower robots (LFR) are used in industry, markets, hospitals, military facilities, transporting people and cargo, irrigation systems in agriculture, recognizing the working environment of visually impaired people and accompanying disabled individuals in many areas. Due to the corona virus epidemic that emerged in 2019, the utilizatin of LFRs in the transportation of infected patients will provide protection of the health of the hospital staff by ensuring minimal contact with the infected people. The path that the LFR will follow autonomously is determined by drawing a line which has different color from the color of ground where the LFR is located. LFR uses Infrared (IR) sensors to follow the predetermined path. The datas coming from the sensors are processed by the microcontroller, and the position data of the LFR is calculated according to the shape of the line. It is important for the autonomous control of the LFR to calculate the position data in the shortest time and without errors. In this project, the datas obtained from the IR sensors are divided into 1024 parts on the ADC (Analog-Digital Converter) ports then each part is processesd by the algorithm of the microcontroller to produce positition data, at the same time the encoder made by using only one IR sensor in order to calculate distance which LFR moved. The PID algorithm utilize position data acquired by the program of the microcontroller for controlling motors