Cleanroom Cleaning Robot

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Cleanroom Cleaning Robot
Sponsors : Revalesio
Team Name : Mystery Machiners
Duration : Fall 2013 - Spring 2014
Faculty Advisers
Mentor :
  • Jeremy Cuddihy
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
Pump Test
  • 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
Weight Test
  • 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
Electronics Housing
  • Replaced the dust collecting container to become the housing for the electronics
  • Housing will be water tight
  • Will also double as the pad holder
Cleaning Pad
  • Revalesio's standard cleaning pad
  • Easy to wash and replace
  • Holds enough fluid for a run
Pump Sprayer
  • Pump/Sprayer combo is from a Swiffer Wet Jet
  • Will run off the Roomba battery
  • Controlled by the Arduino Mirco
  • Will spray in pulses
Test Sprayer
  • 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
Circuit
  • Protoype circuit to run everything
  • Attached to the Roomba through a serial port
  • Controlled by a Arduino Mirco
Tank Lid
  • 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.
Tank
  • 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.
Bumper Extension
  • 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
Tank Stands
  • 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.
Housing
  • 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
Arduino Mirco
  • 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.
IRF510
  • 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.
PTN78060W
  • 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.
FK28X5R1C225K
  • 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.
RNMF14FTC10K0
  • 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.
74ALS32N
  • 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.
ON Semiconductor
  • 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.jpg
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 2.png
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.jpg
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.jpg
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