Introduction: Floor Vacuum Cleaner Robot - Controlled by Arduino With Motor Shield, With Printed Motor-wheels

Picture of Floor Vacuum Cleaner Robot - Controlled by Arduino With Motor Shield, With Printed Motor-wheels

Floor vacuum cleaner robot. Version #17. Attempt to make it more simple.
The robot is moved by small DC motors built-in motor-wheels printed on 3D printer:

Arduino with motor-motor-shield;
Turbine for computer cooler, 5 Volts;
Two DC motor-wheels;
Battery pack for 5 Volts;
Melting glue;
Plastic box;
Plastic ball;
Wires, resistors (~10 kOhm, ~180 Ohm);
Strong magnets.

Step 1: Create a Robot Chassis

Picture of Create a Robot Chassis

Cut a circle from a cardboard: diameter 16 cm.
Cut holes for turbine and wheels.
Take a one part of a plastic box and glue magnets on it by melting glue.
Put the box with glued magnets on bottom side of the chassis covering the round hole
Set another magnets on the top side of the chassis - so magnets hold the box attached to the cardboard.
Glue these magnets on the top side - now the box can be hold pretty strong on the chassis.
Put the turbine on the top of the chassis on the round hole - so this hole will let air come from the box to the turbine.
Glue the turbine to the top side of the chassis.
Glue four wood sticks on the top side so they keep Arduino board with motor driver - now the board can be set or removed easy.

Step 2: Add Battery and a Caster Wheel

Picture of Add Battery and a Caster Wheel

Glue two printed motor-wheels.
Glue a battery to the bottom side of the chassis.
Take a metal wire (or a thick paper clip) and a plastic ball.
Put the wire through the ball and bend the wire.
Glue the wire with the ball to the bottom side of the chassis so that the robot stays on three points - two wheels and the ball.

Step 3: Create a Dustbin

Picture of Create a Dustbin

Optionally two cardboard pieces can be glued above the hole so filter does not lay on the chassis.
Cut the piece if fabric (e.g. used on kitchen for cleaning a table) - this is a filter.
But the filter above the hole and try to cover it by the box - magnets should hold the box and the filter under it with strong some force so air cannot come between edge of the box and the chassis.
Make a long hole on the box.
Create a nozzle with the shape of this hole - make it from paper covered by type (initially the paper can be shaped by two pieces of cardboard).
Glue the nozzle inside the hole on the box so the distance from the nozzle to the floor (or a table) where the robot stands is ~1mm - robot should be able to move and the nozzle is carried above the floor on this distance - collecting dust.

Step 4: Create Bumbers, Program Arduino

Picture of Create Bumbers, Program Arduino

Cut tree pieces of tin from the aluminium can and attach (and secure) wires with resistors as on schema.
Glue these tin pieces so two of them can touch the third one when they are pushed - they will be pushed by bumpers.
Cut two stripes of cardboard and glue rounded pieces to form them rounded.
Glue these cardboard stripes to the chassis co when they are pushed - they hit tin contacts.
Connect power, motors and bumper wires to the Arduino.
Upload to the Arduino the program from GitHub:

Step 5: In Action

Picture of In Action

Small motors have noisy gearboxes. The robot moves pretty slow.


VitoL7 (author)2017-01-10

where's the programming intention?

ZarithR (author)2016-02-09

hiii, can I ask for the simulation of the circuit? I mean the complete circuit of this vacuum cleaner robot. please pleaseee help meeeee. T^T

revrekad made it! (author)ZarithR2016-02-09

You can try to use lab - its possible to upload a program and start it there.

Example can be found here

buttons represent bumpers, motor-driver on L293D ( no other available in this lab), look at sigh on motor RPM - it is changing when hit buttons.

This schema is from another instruction:

In this instruction no need for resistors on bumpers. Program from this instruction also

ZarithR (author)revrekad2016-02-10

Oh i see! Thank you so much. Do u have another example without using the motor shield? My lecturer wants me to use the manual way (pcb and soldering) T^T

revrekad (author)ZarithR2016-02-11

This simulation does not use motor-shield but H-bridge L293D and 74HC172 logic chip, controlled with Arduino. For simulation of circuits build with elements and programmed MCU (like atmega) can be probably done in Proteus simulator or may be there are free simulators.

John ReyG (author)2016-01-17

is that robot can suck liquid?

revrekad (author)John ReyG2016-01-17

No, it has a weak turbine

HindS (author)2015-11-23

I want to know how this robot work ? How Is it connected with the computer ? Also my professor told me too to calculate some speeds ( vitesse d'entrée et de sortie ) ?? Can you help me please ?? Thank you

revrekad (author)HindS2015-11-23

I realized this robot is different than my other robots
e.g. this one:
which have wheels directly mounted on motor's shaft. On this one - the motor rotates a wheel through a gear pair. So motor shaft rotation velocity (50 RPM - revolutions per minute) is reduced with ratio 47:9 (in one model of wheel) and with 30:9 (in another model). Thereby wheels will be rotating with velocity 9.6 RPM and 15 RPM - if I calculated correct.
I measured this wheel - it has diameter 55 mm.

revrekad (author)HindS2015-11-23

This robot uses Arduino board which controls it with a program. You may use Arduino IDE to make and build program and upload it to this robot when its Arduino board is connected to computer with USB cable.

These particular motors rotate wheels ~50 revolutions per minute. Diameter of wheels is ~50mm (if I remember correct). So you can calculate circumference of the wheel and multiply it to 50 to get running distance per minute. Does this help?

HindS made it! (author)2015-11-12


what type of Arduino Leonardo did you use in this project ?

is Leonardo R3 can work in this project ??

revrekad (author)HindS2015-11-14

Any Arduino with 5V should work

You can also check another instructable

HindS (author)revrekad2015-11-23

Ok thank you :)

ThiagoS13 (author)2015-09-23

Hello staff, you guys could help me, I rode with a kit, a vacuum cleaner robot structure is already done, what is missing is the lineup, except I do not know anything Arduino, someone help me?

revrekad (author)ThiagoS132015-09-24

Check out this instruction also - there are more details on last steps about connections between Arduino and other parts:

nageshsp (author)2015-07-11

i am wondering what did you use for obstacle avoidance... you instruction are not very clear...did you use ultrasonic distance measurement sensor for obstacle avoidance?

revrekad (author)nageshsp2015-07-11

This particular robot has only two bumpers - when they are hit with an obstacles - robot turns away.

Another instruction shows usage of the ultrasonic sensor with robot

nageshsp (author)revrekad2015-07-13

Thank you...!!! I have used aluminum foil with power and ground connected to arduino... code is working fine... I am working on advanced model looks same as you projected here... soon i will inform you... :)

JosephChanceWatkins (author)2015-05-11

This is absolutely awesome. Thanks for sharing the schematic and details; Jesus Christ Bless! :)

aiviegonzalvo (author)2015-01-29

do you have video of how this works sir? how can i put a bumper sensor on this? thank you

aiviegonzalvo (author)2015-01-29

do you have video of how this works sir? how can i put a bumper sensor on this? thank you

aiviegonzalvo (author)2015-01-29

do you have video of how this works sir? how can i put a bumper sensor on this? thank you

Akin Yildiz (author)2014-09-14

i envy your ambition sir.. improving your designs constantly, very exciting.! people may think "oh why doesn't he just get an irobot that actually works" but this is the whole point of this webpage, and what the authors should be focusing on; reveal the secrets of technology - at no cost ! amazing work, thank you very much for sharing.. following.

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