The Problem

Design Description

• Modified existing Roomba S9+ vaccum by re-routing path of suction to empty debris into larger bin
• Used fiber optic cable to reroute IR laser sensor so the software still thinks it is full at the right time in larger bin
• Soldered wires to extend the original lid to the top of the new bin
• Re-routed path of tubing to empty debris from Roomba vacuum into larger container
• Used existing Roomba filter in vacuum loop for easy replacement

Conclusion

Lessons Learned

• Ability to re-rout the IR sensor array
• Expanding on-board storage
• Expanding size of storage for dump station on chraging tower
• Maintaining use of factory filters and other replaceable parts
• Utilizing OEM (factory) sensors and software to improve usability

Future Work

• Build a robot from scratch. Design a robot specifically for the environment that can hold a lot of dust.
• This project could be split into three future capstone projects:
  • Navigation/obstacle avoidance system
  • Design a robot vacuum
  • Implement navigation system with mechanical/sensor design using a user-friendly software

Performance Review

Tested navigation abilities of our robot. We found the robot could easily navigate around objects and save a map for each area but often failed to dock itself properly after cleaning.

Additionally, we tested the capability of vacuuming with a new larger bin on the robot including if the sensor would trigger properly when the bin is full. We found the sensor did not trigger until full but would also trigger at random times due to an unclean window for the sensor.

The new hoses and bin worked to bring the debris to a 5 gallon bucket but when using a larger bin there was a sealing issue and the bin collapsed on itself.