r/ArduinoAndRobotics

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.

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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 https://github.com/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 https://github.com/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 https://makerspet.com/blog/oomwoo-3d-design-how-its-made/#brushes-from-parts-you-can-buy
• PCBs: why one RGB camera instead of stereo NIR https://makerspet.com/blog/oomwoo-pcbs-what-we-are-building-how-and-why/#one-rgb-camera-instead-of-stereo-nir

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 https://github.com/remakeai/vacuum_ros2_bridge/ and https://github.com/kaiaai/VacuumTiger

Video - a screen recording of the design as it is today, work-in-progress. I'm designing components to be 3D printable (to have a flat bottom). Major components include 1) the "base" - enclosure bottom with mounts for wheels, brushes, fan, HEPA filter and so on; 2) enclosure top (with sides); 3) bumper; 4) bumper skirt (holds bumper in place). Vacuum's wheels and battery are Roborock. HEPA filter and suction fan are Dreame. Cliff and bumper sensors are iRobot.