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UNIVERSITY OF CAGAYAN VALLEY

Tuguegarao City

Automatic Delivery Docu-Bot

__________________
A Research Presented
To the Faculty of College
of Engineering
University of Cagayan Valley
_________________

In Partial Fulfillment
Of the Requirements
for the Project
Study in Education
_________________

Cortes, Diane Marie

Tamma, Louisse Ellamie G.

BSCPE 4

2024
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Chapter I

The Problem and Its Background

Introduction

Everyone finds it quite challenging to occasionally carry

about large amounts of documents, especially considering

that the vast majority of the staff members are instructors.

The researchers are here to propose an automated delivery

robot that can bring documents to the designated offices

around the University of Cagayan Valley.

The Docu-Bot is a designed and innovative project poised to

revolutionize the way documents are transported to

designated offices, providing unparalleled assistance to our

esteemed staff and teachers. Designed with the primary goal

of facilitating and supporting the daily operations of our

offices. The ESP32 Cam will be installed; it will serve as

the eye of the robot, which can be monitored by someone who

is authorized on the job. A Barcode Scanner ensures

effective distribution by deciphering encoded data

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automatically and identifying certain locations. While the

SIM module permits real-time communication at the same time,

enabling notifications of finished deliveries and status

reporting. Arduino Nano is the heart of the whole system

where the syntaxes are being read digitally by the platform

to input and output functions and conditions. Buck

converters control the voltage input of the circuits and

modules from 12v to 5v to enable the system to work

normally.

This is a modern robot that may modify current delivery and

documentation processes. The researchers proposed this robot

to alleviate the manual burden on staff and instructors,

allowing them to focus on their primary responsibilities

while enhancing overall productivity Through a detailed

analysis and discussion of the results, we hope to provide a

comprehensive understanding of the opportunities,

challenges, and implications associated with implementing

Automatic Delivery Docu-Bots in practical environments.

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Background Information

The field of robotics combines science, engineering, and

technology to build innovative devices known as "robots"

that copy human behavior. A robot is a designed device that

automatically performs the command actions. Robots are

automatically machine-made and replace human gestures, which

are assembled by humans and acts or performs like humans. It

also helps humans in different ways, like helping in a basic

job or doing a simple task. Robots are differentiating in

different forms. An example is the delivery robot or what we

called “autonomous robot”.

The Starship robots was created and operated by Starship

Technologies. The company was founded in July 2014 by two

Skype co-founders, Ahti Heinla and Janus Friis, with Lex

Bayer joining as CEO in June 2018 from Airbnb. Starship

Technologies was founded by Skype co-founders Janus Friis

and Ahti Heinla. Initially, it was called Project Echo. A

core team of the company became the team Kuukulgur, which

led by Ahti Heinla had participated in NASA Centennial

Challenge by building experimental sample retrieval robots.

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Starship Technologies OÜ was registered on 11 June 2014 in

Tallinn, Estonia. Starship Technologies, Inc., a Delaware

corporation, was registered in San Francisco, United States,

on 28 September 2016.

As time goes by, more delivery robot is developed and

implement in different years. Such as food delivery, grocery

delivery, package delivery, hospital delivery and room

delivery. In January 2019, with a fleet of 25 robots from

Starship Technologies, George Mason University became the

first university campus to include delivery food robot as

part of its meal plan. Hundreds of food delivery robots are

being delivered by Starship and other businesses like Kiwi-

bot to various university campuses and the city streets in

the US and the UK. Robotic delivery drivers have also been

used into food delivery services. For instance, Grub-hub and

Yandex collaborated to offer services in universities. In

the month of April, year 2018. The Starship Technology began

offering grocery delivery services in Milton Keynes,

England, in collaboration with Tesco and The Co-op

supermarket chains. By November2020, Starship Technologies

claimed that Milton Keynes had the "largest autonomous robot

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fleet in the world”. In January 2019, Amazon Scout is an

experimental delivery service that uses delivery robots to

bring small products to Amazon Prime members. The test was

conducted in the Seattle area and later extended to Irvine,

California, Franklin, Tennessee, and Atlanta. In 2021,

following the completion of package delivery robot testing

in four U.S. cities, Amazon established a new development

center in Finland to further advance technology and improve

the robots' ability to navigate in real-world scenarios. In

healthcare environments, delivery robots have the ability to

perform a several task in hospital setting to reduce

expenses. The first set of tasks are for food, medical

specimens, and medicine deliveries. In healthcare

environments, delivery robots have the ability to perform a

variety of duties that reduce expenses. Food delivery,

medical specimens, and medication delivery comprise the

initial set of tasks. This robot is equipped with several

sensors that allow them to navigate the hospitals' interior

layouts. In late 2014, the room delivery robot named Relay

and launched by a robotics startup company, Savioke. When a

hotel staff member received an order from a guest, the items

would place inside of the Relay robot and it will deliver

the items to the guest room.

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Objectives of the Study

The Docu-Bot introduces an enhanced document delivery

method. It aims to address challenges and boost productivity

in handling documents across organizations. The objectives

include improving the efficiency of file transportation in

offices, reducing distribution time, minimizing delays,

optimizing workflows, and decreasing manual handling errors.

The integration of navigation, mapping, and QR code scanning

technologies ensures seamless coordination for efficient

navigation, and document delivery. It aimed to respond to

the following:

1. Can the device assist and help the UCV staff and

faculty in their time management?

2. Can the device ensure reliable performance and

reduce risk?
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3. How can the device improve the efficiency and

accuracy of document transportation compared to

manual methods?

Significance of the Study

The findings of this study will benefit the following

specific people differently.

Administrator. The use of an automatic document delivery bot

aligns with the goals of effective school management and the

continual improvement of administrative processes.

Future Researchers. This research may help them because it

serves as their guideline in making their first research

Researchers. Help them to widen their knowledge and improve

their research skills little by little.

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Students. Students involved in the study gain exposure to

cutting-edge technologies such as robotics, QR code

scanning, mapping, and navigation. This exposure can broaden

their understanding of emerging trends in the fields of

automation and robotics.

School. Automatic document delivery bot can efficiently be

of use to administrative processes within schools. It

facilitates the efficient delivery of documents between

different departments, reducing delays and improving overall

workflow.

Teachers. The automatic document delivery bot can

significantly improve the efficiency of document

transportation within office settings. This leads to time

savings, allowing employees to focus on more strategic and

high-value tasks.

Conceptual Framework
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The aim of this project research is to build and produce a

device that helps the registrar personnel, academics staff

and faculty members. The researchers identified the software

and hardware components needed for developing and the

progress of this project device. The next phase is to detail

the possibilities of device capabilities, which include

delivery of file documents to the different offices around

the school campus.

INPUT PROCESS OUTPUT

1. Arduino
1. Planning
Nano
2. Battery 3.2v 2. Analysis
20Ah
3. Implementation
3. Buck Automatic
Converter 4. Designing Delivery
4. DC Battery Docu-Bot
5. Testing
5. ESP32
Camera 6. Prototyping
6. PCB Board
7. QR/Barcode
Scanner
8. SIM900A
9. Wires
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FEEDBACK

Figure 1. Paradigm of the Study

The order of procedures that the researchers will employ as

the investigation progresses is shown in the Input, Process,

and Output diagrams. The input shows the Automatic Delivery

Docu-Bot's evolution as well as the effectiveness of the

project.

During the input phase, precisely outline the objectives,

features, and target environments of the Docu-Bot project.

Determine whether essential technologies, such as QR code

scanning, ESP32 Camera are needed for the project. Analyze

the demands for document handling in organizational contexts

while considering the potential and obstacles.

Consider the project requirements when you plan the Docu-

Bot's construction throughout the processing phase.

Developing the physical structure, integrating components,

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and designing the system architecture are all included in

this. To accomplish motor control, and QR code recognition,

write Arduino code. Physically integrate the chassis’

components in line with the design. Examine Docu-Bot's QR

code scanning, and overall workflow in detail to make the

most of its capabilities.

The project's product, the Automatic Delivery Docu-Bot, is

displayed in the output.

Scope and Delimitation of the Study

The scope of the study encompasses the automated

transportation of documents and files within organizational

settings through Docu-Bot. This robot is specifically

designed to operate autonomaticly, reducing the need for

manual intervention in routine document delivery tasks.

Components, such as QR/barcode scanners grant Docu-Bot

navigation capabilities. It utilizes wireless connectivity,

such as Wi-Fi and an ESP32 camera, for real-time monitoring

of its journey. The integration of a Sim900A ensures that

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Docu-Bot can send notifications upon successful document

delivery, enhancing communication and transparency.

On the other hand, the delimitations acknowledge certain

constraints. It will difficult for the device Docu-Bot to

carry heavy object, only exact amount of documents should be

place inside of the robot to deliver the documents. It is

necessary to always check the robot’s battery before

delivering documents, since the battery of the robot cannot

stay for long time because it will need to be charged. The

robot can’t go from floor to floor using stairs unless using

the wheelchair ramp. While providing automation and

efficiency, additional security measures may be necessary

for handling sensitive or confidential documents.

Environmental factors like weather, the organizational

setting may influence Docu-Bot's effectiveness

DEFINITIONS OF TERMS

Arduino Nano. This microcontroller is used to operate the

whole system of the robot.

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Battery 3.2v 20Ah. a source of electric power. It will be

used as a supply of the device.

Battery Management System (BSM). This component will be use

protect the battery from over voltage.

Buck Converter. It will be used to convert a higher voltage

to a lower voltage.

DC Motor. This used to make the motor move as per given

instructions or the inputs (high and low).

H-Bridge DC Dual Motor Driver. This is used to connect the

Dc motor to microcontroller.

ESP32 Camera. This component will be used for monitoring the

device surrounding.

PCB board. This component will be use to connect wires and

other electrical components.

QR/Barcode Scanner. This component will be use to scan the

QR code, setting the device destined location, activating

autonomous navigation.

Sim900A. This component will send/receive notification to

the person receiving the document.

Wires. This component will be use to connect components.

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Chapter II

Review of Related Literature and Studies

This chapter, review of related literature and studies are

both for foreign and local researchers. This will be use as

guiding tool in pertinent data for the conduct of the

project about “Automatic Delivery Docu-Bot".

Related Literature

(Deotalu, A., R. Gujarati, A., Kulkarni, A., Panchi, N.,

Pati, U. (2020) this research presents how the delivery

robot designed and engineered to deal with its environment

on its own, and work for extended periods of time without

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human intervention. It must not only carry out its task of

delivery properly but must also consider the various

scenarios changing around it and act accordingly. The device

was built using system and hardware development methods such

as power system, driver system, controller & driver boards.

(Długosz, M., Roman, M., Wegrzyn, P. (2020) this paper

details the design and structure of the AQUILO Autonomous

Delivery Robot. The AQUILO robot's job is to deliver small

packages in places like companies, schools, and hospitals.

The AQUILO robot is self-contained, meaning it works without

human supervision or control once it has begun a task. This

document describes individual components utilized in the

AQUILO robot's construction, such as drives, and control

algorithms. The AQUILO robot's exclusive stair detecting

mechanism is also disclosed in order to ensure its safe

operation. The results also include details on future AQUILO

robot development efforts.

(Saravanan, D., Parthiban, R., Pavithra, R., Perianayaki, R.

(2021) this research intends to develop a wireless waiter

robot via use of IR technology which robots are controlled

with the aid of a far flung human interface the utilization

of wires which need human support to safeguard the automated

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on the bearing and confines the range. However, the Robots

can make the transporter additional condition benevolent and

do it more prominent viably sparing time and diminishing

work costs.

(Abouhawwash, M., Al-Amri, J., Kapoor, D., Mahajan, S.,

Pandit, AK., Singh, KJ. (2022) this paper explained how the

behavior of delivery robot in human-robot collaborative

spaces during navigation. During navigation, the robot uses

a real-time object recognition algorithm that is based on

the You Only Look Once (YOLO) method to identify objects and

people. It provides valuable insights for developers,

offering a deeper understanding of the anticipated behavior

of a delivery robot. It also includes on how the robot

deliver the items that may involve different activities.

(Antonini, A. (2022) this research presents a practical

application of Quick Response (QR) codes to correct the

localization error by combining the external QR code

information and the internal encoder values. Each QR code

contains the information of its own global coordinates and

is attached as a one-dimensional array on vertical, thus

walls reducing the number of QR codes required for

localization. Whenever a QR code is detected and decoded by

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the mobile robot, the relative transformation between the QR

code and the robot can be computed and the pose estimation

for the robot is corrected by the extended Kalman filter.

Experimental results demonstrate the performance of the

localization and autonomous navigation of the mobile robot.

The influence of the distance between adjacent QR codes in

the environment on the localization performance was also

addressed and verified by experiments.

Review Related Studies

(Neelamthey, I., Padmini, K., Suvarna, A. (2021) stated that

the essential part of robots in the medical services

framework is principal to limit an individual-to-individual

contact, defilement, and to guarantee cleaning,

disinfection. Robots are described as a physical system that

is artificially intelligent and capable of interacting with

its surroundings. The word "robot" comes from the Czech word

"robota," which means "slave/worker". Receptionist robots,

Surgical robots, Ambulance robots, Service robots, and

Telemedicine robots are the different types of robots.

During this pandemic, these mechanical frameworks can reduce

the risk of unstoppable sickness transmission among front-

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line medical services workers, making it possible to assess,

enhance, screen, and treat patients from a safe distance,

thereby reducing the obligation of medical care employees.

UV light is used by robots all over the place to sterilize

the spaces and even themselves. In the medical care

framework, tele operated robots serve as the eyes, ears, and

bodies of medical care workers in the Isolation Ward, which

could be useful during the COVID-19 pandemic. During this

basic stage, mechanical innovation will play a critical role

in some areas of the medical care framework, such as

measuring pulse, oxygen immersion, and checking vital signs.

A low-cost miniature robot can be easily assembled and

controlled via remote, and this system includes an active

end effect or a passive positioning arm and a detachable

swap gripper with integrated force sensing capability.

Medical workers have praised robot execution in the fight

against COVID-19 for its potential in inhibiting sickness

and for relieving clinical professionals of repeated

responsibilities.

(Urot, C. (2022) this study stated that the fast food chain

was leveling by the launching an innovation that allow

customers to transact faster which the automated meal-

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serving robot was called “Jollibots. The robot has a smart

locker for pick-up and serve food orders, this makes the

customer’s journey even more seamless and hassle free.

(Jennings, D., Figliozzi, M. (2020) stated that the road

autonomous mobile robot has attracted the attention of have

attracted the attention of delivery companies and policy

makers owing to their potential to reduce costs and increase

urban freight efficiency. Established delivery companies and

new startups are investing in technologies that reduce

delivery times, increase delivery drivers’ productivity, or

both. In this context, the adoption of road automatic (or

autonomous) delivery robots (RADRs) has a growing appeal.

Synthesis

These studies collectively underscore the importance of

autonomy, efficiency, and innovative technologies in the

development of autonomous delivery systems. Docu-Bot, with

its goal of autonomously delivering documents, can learn

from these advancements in hardware design, autonomy,

wireless control, and innovative localization methods,

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ensuring it aligns with and builds upon the progress made in

the field of autonomous robotic systems.

Chapter III

Methodology

This chapter discussed the methods and techniques that tend

to acquire the data needed for the study. This portion tends

to accomplish the topics that include the project design,

project development, operation, and testing procedures to be

accomplished, and evaluation procedure.

Project Research Design

The researchers used a water fall method to show the stages

of the study. Under the water fall method. There's planning,

planning analysis. Designing, prototyping, testing, and

implementation.
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PLANNING

ANALYSIS

IMPLEMENTATION

PROTOTYPING

TESTING

Figure 2: Water Fall Method

Planning. The researchers devised a strategy to gather all

data, components, for preparing the design project and

determining how to get started. The researchers implement

the design. The researchers also devised a strategy for

resolving the issues that arose during the design process.

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Planning Analysis. The researchers created a list of the

components required for the intended project so that they

could determine how many these components would cost. In

order to finalize the design and prepare for the next phase,

the researchers obtained the materials required for the

intended project.

Implementation. The researchers acquired the necessary

hardware components, including Arduino, motors, barcode

scanner, and SIM module.

Designing. The researchers developed a detailed system

illustration with the interaction between hardware and

software components outlining how different components will

interact and function together.

Prototyping. The researchers physically integrate the

hardware components into the chassis of Docu-Bot according

to the system design. Then Integrate the developed software

code into the hardware to create a functional prototype of

Docu-Bot.
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Testing. The researchers conducted extensive testing to

ensure each component functions as intended, including the

destination motion algorithm, QR code recognition, camera

record, stream, and sim module notification.

The Docu-Bot is an automated document delivery system that

is designed to convey files to predefined locations. The

study design uses an experimental method to create and

program the Docu-Bot using the Arduino IDE. Operating on

numerous 3.2V 20Ah rechargeable batteries, the gadget

guarantees uninterrupted operation.

Once the destination has been scanned using its built-in

QR/barcode scanner, the Docu-Bot distributes files on its

own. An ESP32 camera captures and wirelessly broadcasts the

trip via Wi-Fi while it is in transit. The Docu-Bot is

equipped with an QR scanner, which allows it to travel and

identify the designated destination on its own. Four DC

motors make movement easier. A Sim900A is included to

transmit messages upon successful file distribution.

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Figure 3: Block Diagram

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Figure 3.1: Sketch Design

Research Environment

The research will be conducted on campus at the College of

Engineering Department, University of Cagayan Valley, with

the goal of practical application in office settings. The

major goal is to establish and evaluate Docu-bot as an

automated document delivery system in office settings,

improving overall operational efficiency and document

handling operations.

Data Gathering Procedure

The researchers used experiment and observation method to

collect data on Docu-Bot. In controlled experiments, they

tested how Docu-Bot performed in specific situations, like

navigating and delivering documents. Simultaneously, they

observed Docu-Bot's real-world performance in offices and

other small environments.

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During experiments, they collected data on how Docu-Bot

responded to various scenarios by testing the device.

Observations included how it interacted with office

environments and the time it took for document deliveries.

Despite challenges like time constraints, the researchers

addressed these issues by implementing effective strategies

to organize the data collection process. After data

collection, they analyzed it using descriptive statistics,

providing valuable insights into Docu-Bot's performance and

user feedback. The result was a dataset contributing to the

evaluation and improvement of Docu-Bot's document delivery

automation in offices.

Treatment of Data

The researchers will test, and observe the Automatic

Delivery Docu-Bot by Scanning the QR/barcode destination

where it automatically finds its way to the set office,

while moving the ESP32 Camera can monitor its surroundings.

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When the files/documents arrive the sim module will send a

message notification inform about the delivered documents.