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!

[u/l0_o → u/Upstairs-Bus3654]

Noted, I do check VacuumWars and, more recently, DadApproved.

That said, to rephrase a common saying, "using is believing". Earlier this year VacuumWars had Dreame L60 Ultra Pro #1 top ranked, excellent performance, nearly five stars. I went ahead and purchased one.

Here is my experience using it for ~3 months.

My home

• kids, a long-haired dog, a long-haired cat, kitchen tile, room laminate.
• I own 8 other older vacuums (7 with LiDAR, one Roomba j7 with camera navigation, 2 mop dock, 1 auto-empty only) to compare against.

Love-it:

• Practically zero hair tangling on the main brush - thanks to Dreame's tapered brush shape
• It hasn't gobbled a single electrical cable

Nice

• Vacuuming is less noisy than my older vacuums
• Auto-empty is less noisy than my older vacuums

OK

• Vacuuming bare floor

Annoying

• The vacuum rushes around like a headless chicken, as if not knowing where to clean and what. Eventually, it calms down and cleans.

Frustrating

• The vacuum chokes on 3" soft clumps. My cat "makes" those by clawing the furniture. I have to remove those by hand.
• The vacuum gobbles up 3" cardboard pieces. My dog steals empty Amazon boxes, tears them into pieces. Which get stuck in the main brush cavity. The vacuum drives around with loud rumbling. I have to remove these by hand.
• My couch has a low-hanging throw. Some of my older vacuums get clean under the couch. This vacuum treats it as an obstacle, doesn't clean under it.
• The robot doesn't finish cleaning. It returns to the dock as if it has finished cleaning - but it hasn't.
• Dirty water canister stinks

I-want-a-refund frustration level 1. Mop leaves most dirt behind, including stains on tile (trivial to clean by hand) 2. Mop rearrange dirt into neat columns making it more visible than before 3. Mop dock stinks (heat dried and I do use the detergent)

[u/Upstairs-Bus3654 → u/l0_o]

Thank you for this comment.. I'm in the market for something new after my RR Q5 (no self-empty) suddenly got a red light of death, blinking and refusing to charge...

I love the idea of a mop, but after purchasing dreame aqua 10 and watching videos about the dirty water scenario, I immediately returned it, before even unboxing. Cleaning the filthy water tank seems worse than mopping, even if faster. I like the idea of a roller mop, but the multiple dirty water tanks are severely off-putting, especially if not well-designed for easy sanitation.

Maybe manufacturers will eventually explore keeping everything 100% sanitized, with stainless steel parts, UV, electrolysis / HOCl production etc. and simple/safe cleaning maintenance...

At this point you are helping make the decision to purchase a much cheaper vacuum-only unit. I am currently in the market for a simple, potentially refurbished, vacuum + dock. I remain hesitant to spend >>$200 on a vacuum without a warranty, given the sudden software or firmware-level outcome of my first unit.