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OOMWOO

An open-source home robot vacuum that maps rooms with a 2D LiDAR and navigates on its own, built from 3D-printed parts with local control and no cloud required.

  • Home
  • Open source
  • Work in progress
  • ROS 2
  • 3D printable

Suggested by Robotheca, created by @makerspet (opens in a new tab), from github.com/makerspet/oomwoo (opens in a new tab). Pinned to commit 5f03656 (opens in a new tab).

Fork on GitHub (opens in a new tab)Download the files at this commit (.zip)
Hardware license
Apache-2.0 (opens in a new tab)
Software license
Apache-2.0 (opens in a new tab)
Commercial use
Allowed

This repository contains executable files that Robotheca doesn't check. Only run them if you trust the creator.

Which files (1 script)

Photo

OOMWOO, photo from its repository
Photo:@makerspet (opens in a new tab)Apache-2.0source file (opens in a new tab)

Bill of materials

43 parts
Export parts list (CSV)

43 of 43 parts shown

Parts list
#ComponentQuantityEst. priceSupplier
1Drive wheel assembly pair1–Supplier: buy Drive wheel assembly pair, opens in a new tab
2Caster wheel1–Supplier: buy Caster wheel, opens in a new tab
3Suction fan1–Supplier: buy Suction fan, opens in a new tab
4Main brush1–Supplier: buy Main brush, opens in a new tab
5Battery pack + BMS1–Supplier: buy Battery pack + BMS, opens in a new tab
62D LiDAR1––
7Compute Module1–Supplier: buy Compute Module, opens in a new tab
8Cliff sensors4–Supplier: buy Cliff sensors, opens in a new tab
9Bumper switches2––
10Main brush drive1––
11Main brush bearing1–Supplier: buy Main brush bearing, opens in a new tab
12Main brush shaft1–Supplier: buy Main brush shaft, opens in a new tab
13Side brush1–Supplier: buy Side brush, opens in a new tab
14Side brush motor1–Supplier: buy Side brush motor, opens in a new tab
15Wall sensor2––
16Dock homing sensor1––
17Carpet sensor1–Supplier: buy Carpet sensor, opens in a new tab
18Charging contacts1–Supplier: buy Charging contacts, opens in a new tab
19Front camera1––
20Camera torchlight1––
21Obstacle detection ToF sensor2–Supplier: buy Obstacle detection ToF sensor, opens in a new tab
22LiDAR tower bumper sensor4–SPDT or similar AliExpress / Amazon / eBay: buy LiDAR tower bumper sensor, opens in a new tab
23HEPA filter1–Supplier: buy HEPA filter, opens in a new tab
24Speaker–––
25Custom I/O PCB1––
26Wiring, connectors, fasteners, magnets, gaskets, filter, tubing–––
27Printed parts (filament)–––
28Tires2–Supplier: buy Tires, opens in a new tab
29*Robot subtotal (sourced parts)*–––
30Water pumps3–AliExpress / Amazon / eBay: buy Water pumps, opens in a new tab
31Auto-empty suction fan––Supplier: buy Auto-empty suction fan, opens in a new tab
32Power supply1–IP67 proof 24V "LED driver" Amazon / eBay: buy Power supply, opens in a new tab
33Dock board1––
34Water level, canisters present sensors4–AliExpress / Amazon / eBay: buy Water level, canisters present sensors, opens in a new tab
35Dust container1––
36Dock exhaust filter1––
37Suction port + gasket1––
38Clean + dirty water tanks1––
39Wash tray1––
40Tubing, fittings, seals, gaskets, fasteners1––
41Blower fan1––
42Duct, alcove, ramp, housing1––
43Charging contacts–––

43 of 43 parts have no price in the source, so there is no parts total. Read from BOM.md at the pinned commit.

Build guide

The guide appears here as you scroll.

Guide by @makerspet (README.md), under Apache-2.0.

More guides

Wiring and electronics

Cables and connectors

From the parts list.

  • Wiring, connectors, fasteners, magnets, gaskets, filter, tubing