Venezuelan President Nicolas Maduro has ordered the soldiers to prevent the aid from crossing the border.
"There are people responsible for this and the regime knows it".
Armed military forces have continued to guard a blocked bridge between Venezuela and Colombia, cutting humanitarian aid off from the country.
"(Guaido) will announce the day when, from Colombia, from the islands by sea, and from Brazil the humanitarian aid will arrive simultaneously", Toledo said.
Maduro appeared on state television Sunday, showing off anti-aircraft systems and other weapons he says will make Venezuelan cities "impregnable". "Donald Trump, get out of Venezuela".
Russia's Foreign Ministry reacted immediately, promising to veto the draft and responding with its own draft resolution, which will be discussed by United Nations experts this week and calls for support of all efforts aiming to achieve reconciliation in Venezuela.
The military exercises will last until February 15 and are set to become the most major and important drills that Caracas has held over its 200 year-old history, according to Maduro.
Mr Guaidó assumed the presidency on January 23 and has been recognised as leader by more...
Venezuela's self-proclaimed interim leader has told RT that the "corrupt regime" there is exclusively to blame for its dire humanitarian situation, and promised that democracy will be embraced, with free elections, once Maduro is gone.
Last week, the Venezuelan opposition announced its plans to hold an global conference in Washington on 14 February in a bid to attract humanitarian aid to Venezuela.
Under Maduro's stewardship, oil-rich Venezuela's economy has collapsed leaving the country wracked by hyperinflation, recession and shortages of basic necessities such as food and medicine.