|
|
|
|
| Cleanroom Cleaning Robot
|
| Sponsors :
|
Revalesio
|
| Team Name :
|
Mystery Machiners
|
| Duration :
|
Fall 2013 - Spring 2014
|
| Faculty Advisers
|
|
| Mentor :
|
|
| Students
|
Nick Rodriguez
Nate Pueschel
Justin Herrick
Greg Atkinson
|
Design and construct a system that can be used to spray sanitization solutions on the floor of a clean room used in the production of clinical drug products. This system will able to complete its task by itself, a fully automated process. Using an existing Roomba vacuum cleaning device, we will modify and rebuild parts of the device to scrub a clean room floor.
Clean Room Roomba
Problem Statement:
Design and construct a system that can be used to spray sanitization solutions on the floor of a clean room used in the production of clinical drug products. This system will able to complete its task by itself, a fully automated process. Using an existing Roomba vacuum cleaning device, we will modify and rebuild parts of the device to scrub a clean room floor.
Project Description
Design Goals
- Spray sanitization solutions on the floor of a cleanroom
- Scrub floor clean
- Pick up excess fluid
- Use UV lighting to aid in the sanitization process
- Automatically return to charging station when needed
Testing
Testing
| Test |
Description
|
|
|
- To see how much fluid the pump could spray
- Used the amount of voltage that the Swiffer Wet Jet uses
- About 400 mL per minute is the results of pump
|
|
|
- 15 lbs put on the Roomba
- Tested how long the Roomba could last with the weight
- 2 Master-Carr catalogs is about 15 lbs
- Confined an area to test
- Able to handle 15 lbs for a solid 2.5 hours
|
Final Concept
Main Ideas
- Detachable tank that holds the cleaning solution
- Detachable for easy clean
- Able to do one cleaning run before being empty
- Holds about 2 gallons of cleaning solution
- Sprayer to dispense the fluid
- Controlled by the Arduino Mirco to spray at right times
- Alternating spray
- Sensor inside the tank to communicate to Roomba
- Fluid level sensor to talk to the Roomba
- Notifies the Roomba when the fluid is low
- UV Light
- Added bacteria sanitation
- Attached to the rear of the Roomba
- Scrubber Brushes
- Removed the original brushes
- Replaced them with heavy duty bristles
- Fits in the same place
Final Designs
| Part |
Description
|
|
|
- Replaced the dust collecting container to become the housing for the electronics
- Housing will be water tight
- Will also double as the pad holder
|
|
|
- Revalesio's standard cleaning pad
- Easy to wash and replace
- Holds enough fluid for a run
|
|
|
- Pump/Sprayer combo is from a Swiffer Wet Jet
- Will run off the Roomba battery
- Controlled by the Arduino Mirco
- Will spray in pulses
|
|
|
- Top brush is the old brush from the vacuum
- Bottom brush is the new modified brush
- New bristles are much stiffer and about to scrub the floor
|
|
|
- Protoype circuit to run everything
- Attached to the Roomba through a serial port
- Controlled by a Arduino Mirco
|
|
|
- MircoScribe was used to draw the shape of the tank, then modeled in Solidworks.
- Solidworks model imported into MasterCam for machining process.
- HAAS CNC Mill cut the tank lid out of PVC Plastic.
|
|
|
- Drawn up in Solidworks
- Will not interfere with any existing features of the Roomba.
- Holds a maximum of 2 gallons of fluid.
- Made of stainless steel.
- Sent out to Faculties to be manufactured.
|
|
|
- Extending the bumper up to the top of the tank
- Design to have the Roomba hit shelving that is off the ground.
- Allows the Roomba to bounce off the shelving.
- Made out of PVC Plastic
- Bandsaw and drill press were used manufacture this part
|
|
|
- To elevate the tank so the pump wouldn't interfere.
- Made out of PVC Plastic.
- Also allows the sensor to be unaffected.
- Bandsaw to get the general design.
- Shaped with a sander and a manual mill.
|
|
|
- Manufactured out of Stainless Steel.
- Made out of multiple sections.
- Bandsawed the components into shape, then bent them into the correct shape.
|
Technology and Software
Technology
| Part |
Description |
Use
|
|
|
- The Arduino Micro is a 16Mhz microntroller.
- . It has 20 digital I/O pins, 7 PWM channels, 12 analog inputs, and can run off of a voltage input range of 6-20V
- It is also capable of serial communication.
|
- The Roomba 780 has a 7 pin Mini DIN port that allows it to communicate using serial communication.
- We will use the Arduino Micro to talk to the Roomba through serial and control the additional components we add on.
-
|
|
|
- The IRF510 is a N-Channel power MOSFET.
- It is capable of passing currents up to 5.6A when a Gate to Source voltage of 10V is applied.
|
- Many of the electrical components that we are going to add to the Roomba will need to be controlled.
- The IRF510 will be used as a voltage controlled switch to allow the microcontroller to turn various components on and off as needed.
-
|
|
|
- The PTN78060W is a 3 Amp, wide input, adjustable switching regulator (DC-DC converter)
- It is capable of accepting an input voltage range of 7-36V
- It can output anywhere from 2.5-12.6V at efficiency up to 96%.
|
- The PTN78060 will allow us to efficiently generate a 6V source from the Roomba’s 14.4V battery to run our electronics.
|
|
|
- The FK28X5R1C225K is a 2.2uF capacitor rated to 16V.
|
- This will be used in our project as supporting circuitry for the PTN78060W switching regulator.
|
|
|
- The RNMF14FTC10K0 is a 10kOhms, 0.25W, 1% Tolerant resistor.
- It has a temperature coefficient of +-50ppm/*C.
|
- This will be used in our project as supporting circuitry for the PTN78060W switching regulator.
- This sets the output voltage.
|
|
|
- The 74ALS32N is a quad-OR gate, 14-pin IC.
|
- This will be used to buffer the control logic from the microcontroller to the high power peripherals.
|
|
|
- The ON Semiconductor 0372DP1 58D is a dual channel op amp.
|
- It will be used to increase the control voltage from the OR-gate in order to fully trigger the MOSFET controlling the sprayer..
|
Mystery Machiners
| Picture |
Bio |
Discipline
|
|
Nick Rodriguez:
My name is Nicholas Rodriguez, I'm an Electrical Engineer at University of Idaho. I am from Pocatello, ID.
As my education has progressed I have focused more on Integrated Circuits and Microcontrollers.
I would like to work with personal electronics in the future. Outside of school I enjoy soccer, skateboarding,
and making music with my friends.
|
EE
|
|
Nate Pueschel:
My name is Nathan Pueschel or Nate. I am a 23 years old and a senior in Mechanical Engineering
at the University of Idaho. I was born and raised in Boise, Id. After college I plan on moving
to California to find a job in the San Francisco Bay Area. I will be graduating on May 17th 2014.
I love the idea of working with a team of other engineering to create or improve.
|
ME
|
|
Justin Herrick:
My name is Justin Herrick and I am a Mechicanl Engineering student at the University of Idaho.
I was raised in Eagle River, Alaska and I love skiing and snowmobiling in the long winters as well
as fishing and hunting in the summer. Mechanical engineering interests me because I love to know
how and why things work the way they do.
|
ME
|
|
Greg Atkinson:
My name is Greg Atkinson. I am 21 years old and a senior in Mechanical Engineering at the University of Idaho.
I lived in Gig Harbor, Washington my entire life before moving to Moscow, Idaho to get my degree. The summer
of my freshman year I went back home and married my beautiful wife, Ellie. Our plans are to move back to
Washington after my May 17th graduation.
|
ME
|
