Floor vacuum cleaner robot. Version #16.
This version accumulated positive experience from previous versions.

Materials and components:
1. Arduino board;
2. Arduino Motor shield;
3. Two motors with gearboxes (3 Volts, ~100 RPM);
4. Two wheels or two aluminium cans;
5. Computer cooler turbine fan (5 Volts or 12 Volts with 5V to 12V step-up board);
7. Battery pack or accumulator - for 5V power supply;
8. Breadboard and power supply wires;
9. Big round plastic box - for housing;
10. Smaller plastic box - for dustbin;
11. Cardboard;
12. Melting glue;
13. Magnets;

Step 1:


The program is simple and similar to previous one - where Arduino was used with H-bridge motor-driver board (not Arduino shield). LED is not used, so pin 13 is free now.

Step 2:

If there is no wheels - bottom of two aluminium cans may be used instead:
Cut the bottom part of an aluminium can, mark center of it, make a hole with size as motor's shaft, glue this wheel to the shaft by melting glue. Put some melting glue on sides of wheel to increase friction with floor. Such wheels are weak, but may be used at beginning and than be replaced with firm ones..

Synthetic fabric tissue for kitchen is used as filter in dustbin.

There are different Arduino motor  shields. One used in this robot - does not have breaks and sensors. Another may have these features. There are commented lines of code in the program - for shields with breaks - they may use different pins.

Using magnets makes really easy to attach/detach housing and dustbin - no lockers or bolts/nuts.

Noise is not as annoying as from servos I tried to use instead of motors (on Version #14 - very disappointing variant).

Step 3:

Composition of dustbin is most efficient from quick build models used before. Dust is not stuck on nozzle like on once made of cardboard (as I tried earlier and on Version #15 which I made all from cardboard - even wheels - another fail variant).

If turbine fan is found with 5 volts power supply - step-up board is not needed.

There is no power-off button on this model.

Result of cleaning during half and hour is pretty well.
This is my first time to build project using arduino and it is one of our requirements, and I am interested with your project sir... But I'm not good in programming and I cannot figure out how your project works,..( or just a simple block diagram sir).<br><br>Please help us sir..<br>Thanks...
<p>Please look at this one</p>
<p>For the bumpers sir.. How it works?</p><p>Thanks...</p>
<p>Thank You For Your Help Sir...</p>
<p>You may also check out another project - with some options: <a href="https://www.instructables.com/id/Another-cardboard-robot-vacuum-cleaner-controlled-/" rel="nofollow">https://www.instructables.com/id/Another-cardboard...</a></p>
Hi! About how much did this cost you to make? I've never built a robot or anything like it before, would this be a good project for a beginner? Thanks
<p>Hi, in the instruction with the link below I provided rough evaluation:</p><p><a href="https://www.instructables.com/id/Another-cardboard-robot-vacuum-cleaner-controlled-/" rel="nofollow">https://www.instructables.com/id/Another-cardboard...</a></p><p>Following list is not precise and just for example - parts can be cheaper or more expensive. E.g. &quot;Arduino Nano&quot; costs $1, just have another form-factor than usually motor-shield have.<br><br>Arduino Leonardo $7<br>Motor-Shield $6<br>DC motor 6v 120rpm 2x$10=$20<br>DC 5015S 5V Turbine Brushless Cooling Blower Fan $4<br>Axis Rubber Wheel 2x$2=$4<br>Power Bank 5v $10<br>Wires $?<br>-------------<br>Total ~$50</p>
<p>why you don't sensor dust ?</p>
<p>Because the robot is very simple and it does not have spinning brush.</p><p>For example, different versions of iRobot Roomba use acoustic sensor (kind of microphone - listening hits of dirt particles thrown by a spinning brush) or combination of an acoustic sensor and optical sensor (I do not know how it is implemented): <a href="https://homesupport.irobot.com/app/answers/detail/a_id/68/~/overview-of-dirt-detect%E2%84%A2-technology." rel="nofollow">https://homesupport.irobot.com/app/answers/detail/...</a></p><p>This simple robot does not have a spinning brush, so acoustic sensor would not be a choice, probably. Optical sensor - that might be an interesting task to measure if it can be implemented to detect such small dust particles, which the turbine alone gets into the dustbin.</p><p>I heard about an approach when photo is taken along the floor with a bright flash - particles of dust expected to be shown on an image as many bright spots. I have not seen such implementation though.</p>
<p>the wiring diagram for the v16 please </p>
https://cdn.instructables.com/FIB/PCDF/I5MD3HIK/FIBPCDFI5MD3HIK.LARGE.jpg<br><br>Or this instruction<br>https://www.instructables.com/id/Another-cardboard-robot-vacuum-cleaner-controlled-/step20/Using-Arduino-Nano/
<p>is it possible to implement the 21-step instructable using an arduino uno??? i happened to have purchased it firstly before seeing this particular project. I am just a newbie.</p>
I think Arduino Uno should be fine.
<p>what arduino had been used to this sir? can you please give me the clear drawing or anything that can help me make my board. as im no good in reading schematic diagram. thank you so much, hope youll help me, i got till wednesday to do the project :(</p>
<p>that would be like giving away a patent that doesnt exist yet. it would be worth millions.</p>
<p>I used Arduino Leonardo.</p><p>This is schema from another instructable</p><p><a href="https://www.instructables.com/id/Floor-vacuum-cleaner-robot-Version-13/" rel="nofollow">https://www.instructables.com/id/Floor-vacuum-clean...</a></p><p>This is more complex then this one</p><p><a href="https://www.instructables.com/id/Another-cardboard-robot-vacuum-cleaner-controlled-/" rel="nofollow">https://www.instructables.com/id/Another-cardboard-...</a></p>
Can i know how to program this vacuum cleaner with arduino?
<p>depends on what you want to do as far as solve</p>
<p>Hi. </p><p>You can find the program for this particular project here: <a href="https://github.com/satr/Robot-vacuum-cleaner-controlled-by-Arduino-and-motor-shield" rel="nofollow">https://github.com/satr/Robot-vacuum-cleaner-contr...</a></p><p>Such program can be written to Arduino with Arduino IDE <a href="https://www.arduino.cc/en/Main/Software" rel="nofollow">https://www.arduino.cc/en/Main/Software</a></p>
<p>yes the new roomba's have a usb port. the problem is it runs on Lisp programming lingo and it will be pure coding from then on in..........UNLESS YOU SWITCH TO GCODE AND TRANSLATE RESULTANT MOVEMENTS FROM CNC MACHINE CODE (which is what modern machine tools i.e. lathes, mills, etc. operate to surprisingly high accuracies.) back to Lisp.......or another way, it depends on the creator and programming time constraints. Then there's mapping which could be done in auto cad 360 or Solidworks then transferred to GCODE then run. Lidar is now available in chip form at low cost and energy consumption to realign due to differential drag in the wheels throwing it off course. The person that cracks the reorientation of a disoriented path wins the big brass ring. Perhaps a consortium is in order, a proposal to the big guys like darpa, who makes the damn thing in the first place, google with their big pockets , or a successful crowdfunding option is in order as the scope of the project balloons very fast once you get a handle on the punch list of problems to be solved. </p>
<p>Can you make a thorough explanation on how you programmed the arduino? I'm kind of a beginner in this and I need to make a robot similar to yours for our project. Thanks. </p>
<p>To learn how to program Arduino you can try to follow some tutorials like these <a href="https://www.instructables.com/howto/getting+started+arduino" rel="nofollow">https://www.instructables.com/howto/getting+started...</a></p><p>Then use the code for this particular project, located here:<a href="https://github.com/satr/Robot-vacuum-cleaner-controlled-by-Arduino-and-motor-shield/blob/master/Robot_vacuum_cleaner_controlled_by_Arduino_and_motor_shield/Robot_vacuum_cleaner_controlled_by_Arduino_and_motor_shield.ino" rel="nofollow">https://github.com/satr/Robot-vacuum-cleaner-contr...</a></p>
<p>hello can ask something about the motor sheild. Can i use other than you use, like motor sheild L293</p>
<p>Hi. It should be possible to control motors with L293. There are some comments and reports about this within my instructions.</p>
<p>Very Cool your project, I think if we use a raspberry give to have more resources.</p><p>Cesario</p>
<p>we will have a project like this sir for our micro controller subject, can you give us the schematic diagram for us to know the connections of all the components.. plsss help us sir.. :)</p>
May be you can find more details in this instruction <br>https://m.instructables.com/id/Another-cardboard-robot-vacuum-cleaner-controlled-/<br>
<p><strong>hi sir, did you use an ultrasonic sensor for this one.?</strong></p>
Hi. There are no ultrasonic sensor in this instruction. You can find addition intruction here<br>https://m.instructables.com/id/Add-an-ultrasonic-sonar-to-the-robot-vacuum-cleane/<br>
<p>can i use the gear from a iroomba to this project? </p>
<p>can i use the gear from a iroomba to this project? </p>
<p>can i use the gear from a iroomba to this project? </p>
<p>can i use the gear from a iroomba to this project? </p>
<p>what arduino had been used on this project sir? Can you please give me a clear drawing on how to connect the bumper/sensor if theres any to arduino?</p>
<p>what arduino had been used on this project sir? Can you please give me a clear drawing on how to connect the bumper/sensor if theres any to arduino?</p>
<p>what arduino had been used on this project sir? Can you please give me a clear drawing on how to connect the bumper/sensor if theres any to arduino?</p>
<p>what arduino had been used on this project sir? Can you please give me a clear drawing on how to connect the bumper/sensor if theres any to arduino?</p>
<p>what arduino had been used on this project sir? Can you please give me a clear drawing on how to connect the bumper/sensor if theres any to arduino?</p>
<p>what arduino had been used on this project sir? Can you please give me a clear drawing on how to connect the bumper/sensor if theres any to arduino?</p>
<p>what arduino had been used on this project sir? Can you please give me a clear drawing on how to connect the bumper/sensor if theres any to arduino?</p>
<p>great work....can you put up a circuit diagram for this please?</p>
<p>thanks.</p><p>circuit is similar to another models</p><p><a href="https://www.instructables.com/id/Floor-vacuum-cleaner-robot-controlled-by-Arduino-w-1/" rel="nofollow">https://www.instructables.com/id/Floor-vacuum-clean...</a></p><p><a href="https://www.instructables.com/id/Floor-vacuum-cleaner-robot-Version-13/" rel="nofollow">https://www.instructables.com/id/Floor-vacuum-clean...</a></p><p></p><p>Circuit for connections of bumpers and for step-up 5V-tp-12V are below. Connection of motors to a shield depend on the shield.<br></p>
<p>owh thanks..what sensor you use..can u tell me n show me how to connect it</p>
Hi, you can check this out in my instructable www.instructables.com/id/Add-an-ultrasonic-sonar-to-the-robot-vacuum-cleane/<br>As far as I remember I connected sonar by its pin AN to analog pin of Arduino
<p>hi..can u teach me how to make the connection between ultrasonic sensor and arduino..i konw how to connect vcc and ground but i don't know to connect the other pin</p>
<p>I have another sensor - I do not know how to connect this.</p>
hi,me again..can i get the programme to run this Floor vacuum cleaner robot?
great project again,hats off! <br> <br>what are the differance between motor driver and motor shield in terms of performance? <br> <br>and have you controlled the speed of motor? i think this one is working slow than your first project using atmega48 controller?can we increase it's speed? <br> <br>haven't you used copper clamp as bumpers? i couldn't see that round metal body and copper claps.how did you replace it? <br> <br>where to make skewed cut? any one side of this backet or both left,right &amp; back side?why did you used magnets?(in previous one you didn't use it) <br> <br> <br> <br>
I do not know the difference between motor-driver and motor-shield I used but the first has two HG7881 and the later has L298P. The board with AtMega48 has L293D. <br>L293D: pic current 1.2A and L298 has pic current 2-2,5A <br>L298 also has two current sensor outputs for monitoring. <br> <br>I did not control speed of motors - set it to max. Earlier on other versions from time to time during cleaning I made robot run along spiral way - to clean round spot. <br>Used motors have low RPM. Two ways to make them run faster - higher power voltage (only on motor driver - NOT on Arduino!) or make larger wheels (what I did on this robot). <br> I used thin aluminium tin from a can to make contacts of bumpers. Better results are by using optical sensor: photo-transistor and IR-LED - when led is hidden from the transistor by small curtain and when a bumper is pushed - it moves out the curtain and LED lit on the transistor. <br> <br>skewed cut is made on one side of the round plastic box - so two bumpers are separated by it. <br> <br>Magnets are used because usually I had dustbin closing tight with fabric filter but with this box I had to make lockers (on V13). Magnets work much better and easy to open/close the dustbin and fix the housing - very convenient and quick.

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