oomwoo-pcb

DIY vacuum cleaner robot update - Drive wheel suspension bring-up Video - drive wheel housing, suspension assembled and working! I test the suspension by pressing the wheel. The suspension bounces the wheel back out nicely once released. The wheel-dropped-detection micro switch clicks when the wheel drops out fully and the wheel itself spins smoothly. Highlights - drive wheel housing printed, suspension brought up (see video) 3D design makerspet/oomwoo-cad - printed, brought a piece of the chassis: drive wheel box with cover Electronics I/O board makerspet/oomwoo-pcb - v1 board schematic cleaned up for review Firmware makerspet/oomwoo-firmware - oomwoo_pins.h regenerated from the cleaned-up schematic Community contributions - Thank-you to Valdi320 - Nav2 keepout (virtual walls) for the simulator, PR in review; tool-free fastener ideas

Open-Source vacuum robot progress - drive wheels suspension designed Video - drive wheels spin, dip (into imaginary "potholes") and return back thanks to wheel suspension. A spring pushes wheels down for better traction getting out of "potholes". The side brush, main brushes spin as well. Next up - 3D print base for wheels testing. Highlights - drive wheel suspension designed; schematics done; firmware C GPIO pinout include available Decision: v1 I/O board - use Android phone as the compute (USB-C to the STM32); push the Raspberry Pi out to v2 to shorten schedule 3D design makerspet/oomwoo-cad - drive wheels designed: each wheel has its own suspension spring, dips into a "pothole" and presses down for traction Electronics I/O board makerspet/oomwoo-pcb - new v1 board (main-phone): STM32 runs all motors and sensors, including LiDAR and ToF, and forwards data to the phone - charging dock rev 2: CH32V003, checks the robot is there before the contacts go live, IR beacon - new small boards: 2x front ToF, side sensor (VL53L0X + IR receiver), 6x cliff sensors, rear docking IR, 2x Hall sensors Firmware makerspet/oomwoo-firmware - C include file available with GPIO assignments - SPEC updated for the v1 board; MCU pinout include file Software makerspet/oomwoo-install - lighter Nav2: only the servers OOMWOO uses, no voxel layers (release notes 10/19) Build-in-public Blog Posts - PCBs: first board, a phone as the compute makerspet.com - 3D design: main brush gearbox - why two gears were not enough makerspet.com - 3D design: how drive wheel suspension works Community contributions - Thank-you to Valdi320 - cleaning-jobs experiments (spot cleaning, virtual walls) in Gazebo, PR #78 merged - Thank-you to xbattlax for pushing the watchdog firmware PR toward a bench test - Thank-you to aarondyck, medicinous and mathwest for corner-cleaning ideas in issue #74

OOMWOO open-source vacuum - progress update Video - I've added the side brush, placed the (optional) smartphone, pointed the camera at the floor (instead of forward). The side brush is Dreame off-the-shelf 3-arm angled (cheap on Amazon/eBay/AliExpress), tangle-resistant thanks to its arms being angled, not straight. The (optional) smartphone - the idea is to reuse an old Android USB-C phone instead of buying Raspberry Pi CM4/CM5. The phone will run the compute, WiFi - plus act as touchscreen. Pi will be supported as main option. Point camera at the floor (instead of forward) - why? a) to check each floor spot if it's still dirty or not. If dirty, mop it until clean (I'll add a mop in 2nd vacuum version). b) for privacy (can't see up) and c) still perform obstacle recognition, but just above floor level. ========================= Highlights - designed side brush, camera now watches floor; placed smartphone. Roborock S5 Max supported as real placeholder robot. Decision: side brush - angled, tangle-resistant brush driven directly by a geared motor (no printed gearbox) Decision: camera - one RGB camera pitched down to see the floor and obstacles, replacing stereo NIR Decision: smartphone rough placement - top center 3D design makerspet/oomwoo-cad - side brush: JGA25-310 geared motor turns a Dreame angled brush through a custom coupler - main brush: 608 bearing + M3 threaded rod with custom coupler and latch tip - Dreame hex-mount side brush, brush box undercover, dust bin inlet fix Electronics I/O board makerspet/oomwoo-pcb - camera moves to the STM32 so an old smartphone can be the compute - 2x VL53L7 time-of-flight sensors, ~126° ahead, for obstacle detection Build-in-public Blog Posts - 3D design: brushes from parts you can buy makerspet.com - PCBs: why one RGB camera instead of stereo NIR makerspet.com Community contributions - Thank-you to yugeeklab - A special shoutout to gkfabs for bringing up a Roborock S5 Max with ROS 2 and creating PRs for remakeai/vacuum_ros2_bridge and kaiaai/VacuumTiger