u/l0_o

Video plots localization linear + angular AMCL vs slam_toolbox scan matching. Instructions here https://makerspet.com/blog/how-oomwoo-cleaning-algorithms-work/

• 3D design https://github.com/makerspet/oomwoo-one-cad
  • in progress, 1st 3D printed model expected in ~2 weeks
• vacuum software https://github.com/makerspet/oomwoo-install
  • simulation model equipped with sensors: 16 x 8 zones front ToF + front stereo camera (strictly optional) + side wall ToF distance sensor. See the attached demo video.
  • upgraded localization accuracy ~3x (navigation when map is available) - switched from AMCL to slam_toolbox scan matching. See the attached demo video.
• electronics https://github.com/makerspet/oomwoo-pcb
  • designed a basic charging dock schematic

Vacuum now probes obstacles, creates a map of solid obstacles - required for cleaning under bed covered with low-hanging bedspread, furniture floor-length throw, doorway curtains. Early work in progress. https://github.com/makerspet/oomwoo-ros2-tools

• vacuum 3D design started
  • placed (rough) drive wheel assemblies, caster wheel, cliff sensors, battery https://github.com/makerspet/oomwoo-one-cad
• vacuum software
  • software probes obstacles, creates a map of solid obstacles - required for cleaning under bed covered with low-hanging bedspread, furniture floor-length throw, doorway curtains. Early work in progress. https://github.com/makerspet/oomwoo-ros2-tools
• community contribution - thank-you to IKsares, Creative-Danush

- 3D parts scanning is mostly complete - now starting 3D design https://github.com/makerspet/oomwoo-one-cad/

- scanned mop with extendable arm (FlexiArm) motor assembly

- fixed mop motor assembly

- second iRobot bumper switch

- iRobot cliff sensor

- main brush motor assembly - all credits to mikbalarikan

- vacuum robot simulation model mostly complete https://github.com/makerspet/oomwoo-one

- added front depth sensor (for obstacle detection, 2x VL53L07CX placehoder, 120° horizontal FoV)

- (strictly optional, needed for obstacle "recognition") front stereo camera (2x OV5647 placeholder, 120° FoV)

- side distance sensors for wall sensing/following

- IMU

- multiple bugfixes, upgrades

- PCB board schematics https://github.com/makerspet/oomwoo-io-board

- added front sensors board

- side sensors board

- sourced distance sensor for wall following (VL6180 in stock)

- community contributions - thank-you to Creative-Dhanush

- added DingoOz Mac support recipe to makerspet/oomwoo contributions/

3D design

• digitized suction fan (credit mikbalarikan); prepped micro-switches, hall sensor, OV5647 camera module https://github.com/makerspet/oomwoo-one-cad

Software

• implemented (very basic) wall cleaning (by bumping out) https://github.com/makerspet/oomwoo-ros2-tools

https://reddit.com/link/1vhiv99/video/pa16tr9nzthh1/player

I/O board

• added watchdog (STM32 internal), motor shutoff on watchdog tripping, signal integrity resistors
• uploaded latest Kicad PCB schematic here https://github.com/makerspet/oomwoo-io-board

News

• OOMWOO project trended on X yesterday, post by oliviscusAI. 574K views, 7.3K likes, 714 reposts. Thank you for your support!

3D CAD design

- digitized (3D scanned into STEP model) drive wheel assembly, iRobot bumper switch assembly, split main brush, carpet sensor, FlexiArm mop assembly, see repo

BoM

- sourced mop disk

• 3D design
  • created 3D models for battery, mop disk, side brush, Dreame TriCut main brush (from 3D scans), credit mikbalarikan https://github.com/makerspet/oomwoo-one-cad/tree/main/lib
• BoM
  • sourced dock sensors (clean/dirty water canister present, empty/full) - use hall $0.30/ea, permanent magnet $0.10/ea.
• vacuum software
  • created a robot settings CLI/toolkit - use for algorithm tuning https://github.com/kaiaai/kaiaai/blob/jazzy/docs/cli.md
• I/O board schematic https://github.com/makerspet/oomwoo-io-board/tree/main/kicad/PDF
  • added iRobot cliff/bumper sensors, wheel assembly connectors (recently reverse-engineered), Pi CM4/CM5 debug UART, M.2 connector, front sensors, side sensors
• News - FCC bans "advanced" foreign-made robots - including [my read] "top- and mid-tier" vacuum cleaners
  • "bans" means "ban approval of NEW products"; vacuums already-selling are exempt
  • bans vacuums with WiFi, weighing 4.4lb including dock and LiDAR, camera sensors
  • FCC official determination July 27, 2026 https://www.fcc.gov/sites/default/files/robots-nsd.pdf

Specifically, FCC bans " A mechanical mobile device, including autonomous mobile robots ... that (1) Is capable of locomotion, obstacle avoidance, navigation, or movement on the ground (2) Operates at a distance from a human operator [...] (3) The combined weight of the device and, if applicable [...] docking station is over 4.4lbs; AND (4) Contains a component falling within EACH of the below subparagraphs (4a) a sensor capable of perceiving its environment [...] (4b) Bluetooth/WiFi [...] at least 200 kbps [kilobit per second] in either direction (4c) software [...] including firmware and AI or machine-learning model weights [...]"

https://www.youtube.com/playlist?list=PLS01nW3RtgopsNLeM936V4TNSsvvVglLc

- 3D scanned components

- Teared down dock

- Sourced bumper tower micro-switches

- Reverse engineered cliff, bumper sensors, wheels pinouts

I/O board schematic

• draft now available https://github.com/makerspet/oomwoo-io-board/blob/main/kicad/PDF/oomwoo-kicad.pdf

Vacuum software

• bumper sensors now work in simulation https://github.com/makerspet/oomwoo-install
• tutorial - how to run cleaning https://makerspet.com/blog/oomwoo-phantom-obstacle-cleaning-fix/
• tutorial for LLM agents - how to run headless simulations https://makerspet.com/blog/oomwoo-headless-sim-coverage-cleaning-llm-agents/

New RFCs: mcu-io-firmware, control-app, health-monitor

Community contributions

• many PRs merged
• A big thank you to GitHub users xbattlax, OsakaTX, hinogi, JPHutchins, IKsares, Arkz-Deepak

3D design

• iRobot caster wheel STEP model (credit IKsares)

Sourcing

• sourced dock auto-empty fan motors, $10-20 120-400W 21-25.2V
• source dock power supply, $15-30 24V 144-500W
• sourced parts, 3D scanner has arrived for reverse engineering - see photo (connector pinouts, characteristics)

• floor cleaning runs in sim (very clunky, often fails)
• Kicad schematic added Raspberry Pi CM4/CM5
• changed MCU to STM32G473; will use Arduino to make it more hackable
• depth cameras for obstacle avoidance
• merged 3 community PRs