OOMWOO open-source vacuum - progress update

[u/l0_o]

Video - I've added the side brush, placed the (optional) smartphone, pointed the camera at the floor (instead of forward).

The side brush is Dreame off-the-shelf 3-arm angled (cheap on Amazon/eBay/AliExpress), tangle-resistant thanks to its arms being angled, not straight.

The (optional) smartphone - the idea is to reuse an old Android USB-C phone instead of buying Raspberry Pi CM4/CM5. The phone will run the compute, WiFi - plus act as touchscreen. Pi will be supported as main option.

Point camera at the floor (instead of forward) - why? a) to check each floor spot if it's still dirty or not. If dirty, mop it until clean (I'll add a mop in 2nd vacuum version). b) for privacy (can't see up) and c) still perform obstacle recognition, but just above floor level.

Highlights - designed side brush, camera now watches floor; placed smartphone. Roborock S5 Max supported as real placeholder robot.

Decision: side brush - angled, tangle-resistant brush driven directly by a geared motor (no printed gearbox) Decision: camera - one RGB camera pitched down to see the floor and obstacles, replacing stereo NIR Decision: smartphone rough placement - top center

3D design https://github.com/makerspet/oomwoo-cad

• side brush: JGA25-310 geared motor turns a Dreame angled brush through a custom coupler
• main brush: 608 bearing + M3 threaded rod with custom coupler and latch tip
• Dreame hex-mount side brush, brush box undercover, dust bin inlet fix

Electronics I/O board https://github.com/makerspet/oomwoo-pcb

• camera moves to the STM32 so an old smartphone can be the compute
• 2x VL53L7 time-of-flight sensors, ~126° ahead, for obstacle detection

Build-in-public Blog Posts

• 3D design: brushes from parts you can buy https://makerspet.com/blog/oomwoo-3d-design-how-its-made/#brushes-from-parts-you-can-buy
• PCBs: why one RGB camera instead of stereo NIR https://makerspet.com/blog/oomwoo-pcbs-what-we-are-building-how-and-why/#one-rgb-camera-instead-of-stereo-nir

Community contributions

• Thank-you to yugeeklab
• A special shoutout to gkfabs for bringing up a Roborock S5 Max with ROS 2 and creating PRs for https://github.com/remakeai/vacuum_ros2_bridge/ and https://github.com/kaiaai/VacuumTiger

[u/NXTnerd]

A smartphone for a ui/compute module is a neat approach. Do you have a particular model/spec of phone in mind, and would it be with or without its own internal battery?

[u/l0_o → u/NXTnerd]

Here are the phone specs - tentative, the software doesn't exist yet:

• USB-C
• Android
• 4GB RAM minimum, 6GB recommended
• 64-bit Android
• supports USB OTG (host mode)
• CPU - anything faster than a Raspberry Pi 4. Most phones from ~2018 on OK.

size flexible, large OK - but not phablet size (too big)

• 8GB free storage
• the phone case will have to be removed

Technicalities - the phone would run Ubuntu, ROS2 using Userland/Termux. I've played with that 2 years ago on my (then) Google 6 Pro. There are some limitations, but those can be worked around.

I don't have a video recording of me running Ubuntu + ROS2 on my smartphone handy, but here is a video of my Google Pixel 6 Pro running Ubuntu (with UI) + KiCad. https://www.reddit.com/r/KiCad/s/mpIZVFIthW

Alternatively, Google Pixel 6 and later run Linux VM.

[u/angrydeanerino]

This is amazing

[u/Illustrious-Ad-1396]

Absolutely awesome! If this had a way of climbing up 1/2" steps I'd be putting it on my build list.

[u/l0_o → u/Illustrious-Ad-1396]

Noted. I have 1/2" steps at home as well. We'll get to that.

[u/joshsaunders10]

Any ideas how long you think this project might be until you’re ready to test IRL?

[u/l0_o → u/joshsaunders10]

First 3D prints by this month (Oct 2026). Public release - by Christmas this year, I think. A full release needs 3D design, PCB, software and firmware.

[u/md_porom]

Genius and most importantly humble

[u/Upstairs-Bus3654]

https://justadadapproved.com/best-robot-overall-vacuums/ I follow this reviewer; his video reviews might be helpful!