Robot Vacuum Floor Cleaner




The robot cleans floor using vacuum produced by tiny computer cooler turbine. Automatically roaming in the room avoids furniture and walls. Assembled during weekend.

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Step 1: Use Any MCU Controller and DC Motor Driver to Control the Robot

Any MCU with DC motor driver suit to control this robot. The robot is controlled by AVR Atmega48 with L293D motor driver which were assembled on the prototype board.
Because L293D warms pretty much an aluminium heat sink is mounted on it.
The 6 volts accumulator is used as a power supply.
L7805 5 volts regulator is to supply valid level power to the controller circuit.
This controller could have less contacts - this board was made to be used in other prototyping.
This ATMega MCU was programmed by BascomBasic.

Step 2: Step-up DC Power Converter

The step-up DC converter was assembled  on the controller board because a computer cooler turbine requires 12 volts but the accumulator provides only 6 volts. The MC34063A chip was used. There are online calculators to define required component values (like this one).

Step 3: Reverse Side of the Controller Board

All connections were made by soldered wiring.
Resistor are to limit current between bumper contacts and MCU input pins.
The circuit is sort of  "reverse engineered" by a soldered board (as I lost the original schema).

Step 4: Plastic Jar As a Cover Case

A plastic jar (or basket) is used as a cover case. Part of this will be used as bumpers.

Step 5: Assembling

The case from plastic jar defines the size of the robot. Draw the circuit in jar size and assemble all robot parts inside it.
For such work it's easy to use steel belt for wall mounting works.
Motors, gears and wheels are from toy car.
Computer cooler turbine is mounted on the cardboard box.

Step 6: Dustbin

A kitchen napkin made from nonwoven fabric is situated inside the cardboard box with the turbine. It is a dustbin. This fabric can be easy replaced.
Air with dust comes into the aperture in the bottom of the dustbin box and goes out  through the fabric which collects dust.
A tiny wheel for furniture is mounted as a third supporting point.

Step 7: Bumpers

Bumpers are to define obstacles on the robot's way - like walls and furniture. The bumpers are cut direct in the case. Behind the bumper surfaces copper wires are mounted as bumper contacts. These contacts are connected to MCU input pins.

Step 8: The Robot in Action

In the video robot collects pretty much dust.
The attached program is written in Bascom Basic. It could be even shorter but this one contains extra code which avoid the robot be stack in corners for a room. The program was found among other versions, so I'm not sure it was latest one.

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    65 Discussions


    Reply 2 years ago

    I have not used STM32. In my other instructions I described projects with Arduino board and their programs are pretty simple - I think STM32 should work with it. Example how to setup STM32 based prototyping board with Arduino IDE:


    3 years ago

    can you contact me at really important for me. please


    Reply 3 years ago

    Any MCU with DC motor driver suit to control this robot. The robot is controlled by AVR Atmega48 with L293D motor driver


    Reply 3 years ago

    did u have any circuit using pic microcontroller?


    Reply 3 years ago

    no, I used only atmega MCU (including those within Arduino - in my other instructions)


    Reply 4 years ago

    Only touch sensors (bumpers).
    For ultrasonic sensors there is an instructable


    4 years ago

    I'm not good at English. Sorry

    5V 4500rpm fan is okay to cleanning?

    1 reply

    Reply 4 years ago

    This might be ok to clean light dust from the hard floor (not sand), but most likely it would not clean a carpet (without rotating brush).

    revrekadCat Adalay

    Reply 4 years ago on Introduction

    On this project I spent less money but more efforts (including learning and soldering):

    Atmega $2
    Motor-driver $2
    Motors with gears and wheels from a toy $2
    Battery $8
    Rest electronics components and materials $10
    Total ~$24

    On this project I spent more money but less efforts:

    Arduino $8.
    Motor-shield $10.
    Motor 2 х $8
    Wheel 2 x $4
    Turbine $5
    Battery $8
    Magnets $2

    Total ~$50


    4 years ago

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


    IS THERE ANY ay that i can make use of arduinos on this project, got no ideas on how to start it, specially that i got 2 weeks left before the submission of the project, i wanna do this project same as yours, but the problem is the other equipments arent available here in my country. Please help me, hope you can give me an alternative on how to do it with arduinos, and maybe please give me clear lead on how to this project as i have no much backgrounds on arduinos or anything. Thank you, just really need help please reply.

    1 reply

    4 years ago on Introduction

    Sir i want to program it by myself in assembly language using 8051 mcu .... could you please send me the algorith and flow chart on - .... thank you in anticipation

    1 reply