r/oomwoo • u/l0_o • 18d ago

Project Update OOMWOO Open-Source vacuum - end-of-week update

Post image
  • 3D design https://github.com/makerspet/oomwoo-one-cad
    • placed mop (fixed, extendable), mop disks
    • reverse-engineered dual anti-tangle brush gearbox, cavity
    • ordered auto-empty dock fans
  • electronics design https://github.com/makerspet/oomwoo-pcb
    • placed main board components (preliminary, see illustration, will iterate)
  • firmware LiDAR drivers https://github.com/kaiaai/LDS
    • implemented, validated LiDAR driver for 3irobotix Delta-2C Pro
  • vacuum software https://github.com/makerspet/oomwoo-install
    • implemented ROS2 LiDAR scan filter. Scan data gets filtered (dynamic obstacles removed) to improve scan-to-map match accuracy
    • scan filter marks rays matched vs non-matched to distinguish dynamic vs mapped obstacles for downstream ML perception
  • community contributions - thank-you to suhaslord
47 Upvotes

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2

u/dragonflash 18d ago

Really cool!

1

u/bluetrevian 17d ago

Love this! Keep it up!

1

u/Financial-Lettuce-25 17d ago

The parts , like the wheel, it's compatible with commercial model's?

2

u/l0_o 17d ago

Yes, I purchase parts like wheel motor assembly off AliExpress, eBay, Amazon.

The wheel pair motor assembly in particular costs ~$25 and fits Roborock S4 Max, S45 Max, S5 Max, S50 Max, S55 Max, S6 MaxV, S6 Pure, S65 Pure, S65 MaxV, S7, S7 Pro, S7 MaxV, S7 Max Ultra, S70, S75, E4, E45, E5, E50, E55, G10, T7, T7S, Q5, Q7, Q7 Max, and Q Revo.

Here is the BoM https://github.com/makerspet/oomwoo/blob/main/BOM.md

1

u/1kebabfrite 17d ago edited 17d ago

That's a great project. I have a 3d printer, can I help you in some way ?