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