This article is about how I collect my robot vacuum cleaner. There are many photos and videos for those who also burn such an idea.

December 19, 2014. I am interested in vacuum cleaner robots five years ago in 2009, probably after acquaintance with Roboforum. All these years were attempts to start something, but nothing was done. A couple of months ago, I actively read the articles about the robot vacuum cleaner and decided to finally buy Karcher RC 4.000. Time passed, the wife often began to get out in the kitchen and in the corridor, I started annoying me, the thought of the robot was all stronger. A couple of evenings I spent again in pictures and forums about robots-vacuum cleaners. Finally decided that I would make a robot myself!

The goal to create a robot vacuum cleaner is not worse than industrial and get rid of the dust layer and small garbage in the house. In the process of studying the robot device, it turned out that they are very noisy, about 60 dB, while the stationary homemade detergent vacuum cleaner is about 80 dB. My self-made robot should work as quietly as possible, its dimensions should not exceed the dimensions of the factory robots and should be removed quickly and efficiently.

First of all, it was necessary to solve the issue with a suction turbine. I already had experience in building turbines, but they all worked badly. For the garage, I made a homemade vacuum cleaner from the turbine from the old vacuum cleaner "Rocket". For a robot, you need a small turbine, so I started looking first. I accidentally found a VOVAN user message on the roboforum, he shared the drawing of his turbine. Without a long thought, I turned the drawing and cleaned my turbine.

I cut the turbine and glued from dense cardboard with the help of super-glue in 20 minutes. The first tests were successful!

December 20, 2014. I bought a pilling for the body today :) In general, I need only a transparent bank with a twisting lid, the contents gave his wife. Also bought a brush for clothes with a hard pile, disassembled it, tomorrow I will make a brush from her for my robot.

In autocada, made an outline of the location of the elements in the housing. Stopped on the sizes of the basin with a diameter of 25 cm and about 9 cm high. It is not yet clear whether all the elements fit, the places are really little, but I don't want to make the body anymore. Put the frame for himself :)

Yesterday on the Internet, the size of the factory robot vacuum cleaners was discharged:
Diameter * Height (cm)
36 * 9
32 * 8
32 * 10
30 * 5
22 * 8

I conceived to make my vacuum cleaner with a cyclone filter, so you can't do a small height, it determines the bank to collect garbage, but in diameter you can win. For the cyclone, of course, thanks to Dyson, long ago reviewing his invention and even the garage vacuum cleaner made on the principle of cyclone. My filter will be simple, without any cones and mad power suction, will come for the first time.

December 21, 2014. From the sex brush in the garage scolded 15 cm of a round cutter and made a round brushing out of it. The diameter turned out to be about 70 mm. The size is unrealistic and very tough bristles, I don't know how she behaves, but probably will have or redo or grow a vacuum cleaner, because the bristles will throw it up. The bristle simply inserted into the holes without glue, it turned out reliably. The entire design was fixed on the heel with a diameter of 6 mm and on the edges two bearing.

Found two wheels in the garage, do not believe, from the vacuum cleaner! The same manual vacuum cleaner in which there was nothing electric, only 4 wheels and two brushes driven by these wheels. The wheels were waiting for their own at about 15 years :)

Now in the autocada, I will make another drawing for several details, tomorrow I will cut everything out of plywood and I will try to collect something already on the basis.

December 22, 2014. I really want to make a robot vacuum cleaner with your own hands and finish it until the new year 2015. Yesterday night, I looked at a few rollers about the robots-vacuum cleaners and in particular two videos about Dyson 360 Eye and Fluffy:

After the first video with the robot Dyson, I realized that making my robot with a diameter of 25 cm and a brush of 15 cm long. I will leave dirty places along the plinth on a width of 5 cm. After the second video, the brain generally rebooted and thought did not make a brush ahead of the robot?! What I will do next, I don't know yet, the tests will show.

So, today I bought a new scoop and two brushes with softer bristles. The scoop bought due to the gum, which is glued along the edge, it is perfect for my design.

The geometry of the case has changed a little on the basis of new thoughts and a new brush. The size of the robot is still 25 cm, but now it is half a circle and half of the square. The width of the brush is 21 cm, the diameter is about 6 cm. He saw the base from plywood 8 mm, attached the wheels and brush, tomorrow I will make a gearbox and try something suitable :)

December 23, 2014. Screwd to the score of the gear and attached a gearbox, as a passion used an elastic band for money, screwed the motor for the dough. Below on the video test for 6 and 9 volts.

Most likely the brush again redester, too short pile and too hard. The pile should be without skipping, because the dirt stripes remain. In general, it turned out the spectacular :)

I estimate enough space for three engines in the case. Two motors will twist two wheels and one brush. Plus, all the place will occupy gearboxes. The idea has come to replace gear gearboxes to worm, can be a couple of tests.

The suction turbine coated twice with a layer of epoxy resin, became plastic. The cardboard is no longer nervous and if the water falls everything will be fine. I did not have to core, spinning perfectly. Meanwhile, I prepare the foundation for the garbage collection. Made a filter of fine cleaning from the neck and the cover from the bottle of the kefir. A disposable bag from the vacuum cleaner took the filter tissue. While everything is glued, after a couple of days I will cover the basis and test everything again.

Throughout the work on the robot constantly comes to mind to acquire a 3D printer. With a three-dimensional printer, it would be much easier to create such details as I need with high accuracy. When the drill drill the Phaneur drill can lead or slope not exactly 90 degrees, there is only a dream about high accuracy. In addition, the details of the plywood are very cumbersome, on the 3D printer everything would be neat.

December 24, 2014. In the morning, he tested the turbine and a bank to collect garbage, the day repeated an experiment with a higher voltage. The results are not impressive. The fine cleaning filter had to be unscrewed, because the power drops strongly through it. In the bank, the garbage is spinning very effectively, but really not enough suction power.

Test turbine with high voltage.

At these moments there was a desire to score everything, why did I take it at all. Now it's very easy to throw everything and forget - it's easier.

In the evening, I took a unkless motor and began to glue a new turbine for it according to the same drawings.

December 25, 2014. Potked the second turbine for the uniform motor, wanted to test, turned out to be the motor rotated in the wrong side. Tomorrow I will go to the garage to repaid the wires, and so far I postponed everything aside.

December 26, 2014. Perevated the wires between the controller and the engine, got rotation in the right direction. The turbine began to work, but a couple of tests on the knee turned out again sad. It may even be redone the design of the turbine, adding a little taper, but about it later.

The last two days very little paid time to developments, I will try to allocate 4-5 hours tomorrow.

December 27, 2014. I decided to try to assemble the worm gear for the chassis of the robot vacuum cleaner. I have previously shown on the pictures that you can make a worm from a nail and cut copper wire. The problem was in the process of soldering the wire to the nail. My soldering iron is not very powerful, so additionally the nail warmed on the gas burner. However, it did not work better qualitatively, so I took a round piece of wood and wrapped it on it, the turns spilled super-glue. The worm turned out to be completely balanced. Not paying attention to the ovality of the wooden basis and in general the entire block of plywood mechanism worked fine, but damn is very slow.

It would be nice to get ready-made plastic worm gears, but for now I will postpone this insert.

Regarding future energy consumption by my robot. Now the snag with a turbine, something does not want to suck as it should be even with a removal of a fine cleaning filter. If the turbine is used to use the usual collector motor and feed it with a voltage of 12 volts, then it will consume about 0.6 amps. If you use a contacked motor, then it will consume about one amp. Plus, two sectors of the engine will be used to move the robot and another one, each will consume about 0.3 amps. Electronics will also consume something. Total robot will "eat" from about 1.6 to 2 amps, in the peaks probably up to 2.5 amps. I do not know much or not, it seems like industrial robots consume three or more amperes.

Repeated a bunch of video and photos on request "The principle of the robot-vacuum cleaner". Found a cool photo of the turbine from the usual household vacuum cleaner. I read on some forum that the longer the blade of the turbine, the greater the vacuum it can create at the expense of centrifugal force.

December 28, 2014. Two more turbines cleaned today, differ only in thickness. The blades made as long as possible. The photo below the first thin (5mm blade height) turbine, in the work it is very quiet, but it doesn't suck nifiga :)

The second turbine thicker (15mm the height of the blade).

Once again in the garage I tried to drag the brush on the floor, the motor often stuck from the load, the bristle still turned out to be very tough, and the diameter of the brush would not hurt to reduce. Tomorrow, with any weather, I go buy a brush with the most mild bristle, also go to the store with toys to look cars with a worm gearbox for the chassis of the robot.

In the garage tested a new turbine with a voltage of 12 volts, thought that 9 blades were possible little. Houses smoked the third day turbine with long blades and number of 15 pieces, I applied the photo:

Ended another day. Before the new year, I will not have time to make a vacuum cleaner as planned, but I want to believe that everything will be fine :)

December 29, 2014. I went to the store with toys in search of worm gears. On the way I remembered the daughter's toy - horse. This horse did not like her daughter and in general, and it is not very good for me :) But it also has two worms and 4 + 4 gears.

I still looked into the toy store, then in the second and bought a machine-reversal there. I bought the machine not so much for the mechanism as for its wheels, they climb on any surface. Inside the worm transmission machine did not turn out. The wheels are quite possible I use it for a homemade robot, but for now I gave my daughter's car - she is delighted :)

In the afternoon, the thought took mind to make a robot-electrovnik, i.e. The design is the same as now, only the turbine is missing, the garbage is simply going to the compartment. When in the store I was looking for a new brush with a softer pile (I never bought it) I accidentally saw it:

I immediately bought this lid. This is the ready-made robot corps, according to modern transparent and even there are no extra elements. And in fact, it is "cover for a microwave oven" (diameter 24.5 cm), what to cover and why I do not know, but the robot should turn out beautiful :) But this is already in another article.

In the evening, broke the conic, took out the gears and screwed to his robot, it turned out cool! The mechanism takes the minimum of space and fairly enough to move the platform. While I assembled not everything, so the pictures will be later. In the meantime, I carry the idea how to make a new brush, reduce its diameter to 3-4 cm and replace the gearbox with gears to worm.

By the way, the worm can be removed from other toys. So we had a broken elephant broken, but in principle it does not matter, the main thing is a mechanism that in many toys (machines, tanks and others) is the same, see pictures:

Oh yes, I forgot to write about a new turbine, it turned out to be noticeably more productive than everyone else. For a better passage of air, I also added a cone to the middle of the turbine.

January 5, 2015. Despite the New Year holidays, all previous days I tried to somehow move in work. A lot of information reread about 3D printers, if there was such a printer in my arsenal, it has long printed most of the details. While in the head I build plans for the future how to collect a 3D printer with your own hands.

Today I made a new brush. He took a wooden wand with a diameter of 10 mm and twisted the holes in the helix. Inserted bristles in the holes and seeded them from the reverse side by the tree.

Collected the running part until he tested, dries glue. The new brush also put in place, it turned out a lot of jambs, without them, all the same, this is my first robot. By the way, I abandoned the rectangular rear and made the basis for a round case. My solution is connected with the rethinking of the movement of the robot, if you imagine that the robot moves along the wall and rests on something, so that it will have to make the maneuver with the movement back, because the square back will be on the wall.

Much time I spent on the search for a solution for the "vision" of the robot. The mechanical bumper does not suit me very much, it spoils the external although it is the easiest scheme for determining obstacles. I stopped on an infrared sensor. There is no possibility to collect the sensor due to the lack of infrared phototransistors.

January 07, 2015. Yesterday, up to one night I collected a robot so that at least it is to test it, play :) As a "brain", Arduino Pro mini + Motorshild is used on L293E chips with strapping (I used this fee in my first engine control project online via the Internet). Management is carried out from the TV with the TV. Short video:

The design looks like liquid, in fact it is, almost all the mechanisms barely breathe. Today I understand how much it seemed to be a simple robot so hard to do. At the moment, almost in all nodes I have problems, a global alteration is required almost.

The wheel drive on the worm gear in speed turned out to be, but its execution leaves much to be desired. Part of the drive is placed in the compartment, where the movement of air with the garbage will not work for a long time. On wheels, I wanted to drill holes that would serve as an additional motion sensor. On the one side of the wheel, the IR LED will be located, on another IR phototransistor. This scheme when moving the robot will pulsate if there is no pulses, it means that the robot has been moving into something and does not move.

For the approximation sensors, I bought IR LEDs and IR phototransistors, but after testing such an IR bumper it became clear that the idea is bad. The sensor reacts to the sunlight, and the black items do not see at all. The design has the right to life, but in simpler homemade. Who is interested in the scheme I share:

If the sensor is close to the sensor, the LED lights up on the dump board.

I also tried an ultrasonic sensor. It greatly measures the distance, but only by the method "in the forehead", if the plane of the object is at an angle, then the readings are distorted. In general, even with such a sensor, the bumper in the robot will not work normally.

To control the remote control, the TSOP IR receiver is used, which labeling I do not know, in principle you can use anyone. You can manage from any console, even from a mobile phone, but before that you need to know the codes of the pressed buttons on the remote. In the Sketch simple scheme that sends the button code into the port monitor when you click on the remote control. An example of connection and sketch below:

As for the brush for sweeping, it turned out perfectly, the width is almost 21 cm, with a package of 25 cm. There are nuances: Porks are not restored if they are accepted. The drive mechanism is not closed, wounds through 3 minutes of work and stroke. Brush is notoable. The motor is very weak, but the number of revolutions is very suitable, on the table there is very effectively.

Now this robot vacuum cleaner will be disassembled and rethought. Most likely the case diameter will increase by 3 cm. Initially, I thought to do on an independent suspension to hiding if someone suddenly would come to the robot. Drive the wheel all the same on gears, instead of a worm. The pile for the brush needs to look another, more elastic and to keep his shape. The bumper apparently will have to do mechanical. Many questions on the suction turbine.

Despite all the flaws of the robot, I liked my wife, and the daughter is delighted :)

To be continued. So often I will not write about the robot, but the photo and video reports will try at least once a month to publish.

March 2015. I bought an electric bar.

Robot vacuum cleaner in the project!

Most likely your vacuum cleaner has already been sold with one or more additional nozzles. It is possible that there was an instruction with a detailed description, but the problem is that the inquiries of the overwhelming majority of buyers do not read.
For high items and ceilings

This extension tube for the hose, and its purpose is quite understandable. It can be used complete with an additional nozzle, which is attached to the end of the pipe. Need to get to hard-to-reach high places. For example, to ceiling plinths, the upper surface of the refrigerator or kitchen cabinets, and with the help of an additional pipe it is convenient to remove dust for furniture. You can choose a pipe with an authentic and shorter depending on the height of your ceilings.
For upholstered furniture, mattresses and pillows

In order for dust to do not spoil the furniture, did not make it dim and gray, do not forget about the nozzle for cleaning up the soft furniture. Do not look at the fact that it is so small and inconspicuous. It is great for pulling dust from sofa pillows, Roman curtains and even mattresses.
For smooth floors


This flat wide brush is best suited for smooth floors. Its short bristles perfectly captures dirt, crumbs and hair, which are then sued in the vacuum cleaner. As a rule, such brushes are equipped with wheels or a rotating head that make it maneuverable and easy to use.
For lampshades, books and household appliances

The brush nozzle is usually a round or triangular shape with a long soft bristle that does not scratch the surface. She can remove dust from furniture, clean the lampshades, blinds, eaves, household appliances and books.
For gaps and corners


This one of the most familiar is a narrow slit nozzle for hard-to-reach places to which you cannot get to the usual brush. It is convenient to vacuuming along the plinth and between the ventilation holes, as well as in other bottlenecks. For example, a slotted nozzle is convenient to use for sofas and chairs to remove dust between pillows.
To remove wool


Such nozzle will appreciate the owners of animals. A rubber bristle brush, creating a static charge, lifts hair hairs and thus facilitates their suction. Therefore, cleaning passes faster and better.
For carpets and carpets

The turbo brush is ideal in the case when you need to add power. With this nozzle, you can carefully comb the carpet and effectively remove the dirt from the pile.

For reading 4 min. Published 02.06.2018

Beautiful high-quality carpet is able to change the interior beyond recognition. Fluffy flooring will make the room cozy and will become the sideling accent that successfully emphasizes the design idea and the taste of the owners of the house.

But with improper care, even the most high-quality and delightful beautiful carpet can become faded. And this is not all, without proper cleaning, this detail of the interior will accumulate dust and can cause diseases of the respiratory system.

Maintain cleanliness and comfort in the house will help carpet vacuum cleaners, these useful household helpers will make cleaning quick and efficient. Of course, if all the subtleties are taken into account.

What vacuum cleaner will fit?

Caring for the crystal purity of the house, brightness and freshness of the fluffy flooring begins with the purchase of a high-quality vacuum cleaner. The household appliances market presents dozens of models that differ in configuration, appearance and, of course, cost. How to choose the best? The main thing is that the unit is a mark "for dry cleaning."

The principle of action of all vacuum cleaners for dry cleaning is the same. The unit retracts the air, and with it and dust that have seen on the surface of objects and textile accessories. The "dirty cocktail" passes through the system of filters, delaying dust. And the air in purified form returns to the room.

When choosing a vacuum cleaner, first of all, it is necessary to focus on the scope of work with which the aggregate will have to cope. For houses with a minimum of textile accessories, a model with a garbage collection bag is suitable. Lovers of the same carpets with a long pile can not do without
.

Rules for cleaning from professionals

Experts of cleaning companies and experienced hostesses are happy to share tips that will help make cleaning quickly and efficiently. And what is important, allow you to keep the dear heart or an expensive carpet from damage.

So, how to vacuum the carpet to keep the color and fluff as long as possible?

1. It should be cleaned at no less than 1 time per week. Carpets and palaces attract dust, as if magnets, it clogs between the fibers and later delete it will be much more difficult.
2. It is necessary to clean the filters after filling them on 2/3. Do not wait for the warning signal of the unit. The crowded filter holds the dust worse, and part of it will return to the house.
3. Once in 2-3 cleaning should be moved to furniture and remove dust under it. Between such global cleaning, you can do the use of nozzles with a narrow nozzle.

Before starting cleaning, you should open the windows and organize drafts. Purified air must go into the treated part of the room. Otherwise, the air flow will raise the whole dust cloud.

Secrets of cleaning and carpet care

Using a powerful unit does not guarantee high-quality cleaning. Save the brightness of the floor covering and the pile structure will help the techniques, widely used by professionals:

1. To clean carpets from natural materials, use a brush with long bristle. Palace is better to clean with a short bristle nozzle. Long pile carpets are brushed with smooth nozzles without bristles.
2. Before cleaning the carpet of synthetic threads, it must be treated with antistatic. It will simplify the collection of garbage.

Whatever quality cleaning with a vacuum cleaner, it is not enough. Twice a year, these fluffy details of the interior should be contlected in the fresh air. In winter - in snowy weather, in the warm season - in dry. And 1 time in 2-3 years to give a carpet for professional cleaning in dry cleaning. Specialists with the help of suitable compositions will update the color of the coating and will hold the disinfection procedure.

Procedure

Almost every person at least once kept the vacuum cleaner and cleaned with its help flooring. But not everyone thought about how to vacuum the carpet correctly, so that the result of labor was noticeable immediately and retained as longer as possible.

After the household assistant will be prepared for work and the desired nozzle is attached to it, you can start:

1. The room should be divided into conventional squares. Start from the near right corner. Rightstims are usually more convenient to move right to left.
2. Consistently cleaning the square per square, you should move to the door.
3. Constantly control so that the purified air goes into the treated part of the room.
4. Movements should be uniform, reciprocating.
5. The shell brush must move along the pile. This technique will avoid deformation of textile things.
6. Special attention should be paid to the zones with the greatest patency: the door, the entrance to the balcony, with upholstered furniture.
7. After completion of cleaning, you can wipe the dust from the surfaces and, if necessary, wash the floor.

If doubts, it is possible to vacuum the carpet, nevertheless arose, you can refer to the manufacturer for clarification. The main mass of textile flooring is cleaned with household appliances and needed. The main thing is to do it regularly and carefully.

When choosing a new vacuum cleaner without a bag, you should pay attention to the configuration of the device. The number of brushes and additional devices will significantly simplify your work with a vacuum cleaner (this example).

The cleaning equipment requires a slit nozzle, a floor / carpet brush and upholstered furniture. The innovation in the world of household appliances has become a turbulent for a vacuum cleaner, which copes with the dirt and stuck hair and wool.

2 Brush "Domstenok"

This universal vacuum cleaner brush with batteries was specially created for comfortable cleaning in the house. With the help of the brush "Domoenok" you can easily clean not only upholstered furniture and clothing, but also the wool of domestic animals.

Little dimensions and light weightless weight vacuum cleaners provide maximum use of: the model is characterized by high mobility. Domotnok's vacuum cleaner can serve as a slit nozzle, penetrating in hard-to-reach corners of the apartment.

Universal brush-vacuum cleaner for furniture, carpets and animal wool - an indispensable assistant in the house for. Cleansing carpets from animal wool during molting always delivers many troubles. But the universal brush-vacuum cleaner "Domotenok" can cope with this task very simple. You can buy goods at a price of 750 rubles. Batteries are purchased separately.

2.1 Application of nozzles

For high-quality cleaning of the house, a different combination of components are used, which are attached to the vacuum cleaner in the following order:

1. The electrostatic brush is used to purify household appliances and indoor plants.
2. It is then cleaned upholstery of sofas and seats with the help of the brush nozzle. If you need to remove animal wool, the nozzle is used with a turbo. To clean the corners, a slit nozzle is used.
3. Next is the purification of hard-to-reach places, plinths and corners. To do this, a slit nozzle is installed on the vacuum cleaner. If you apply a combined model in which a slotted nozzle is installed, simply switch the cleaning mode using the button.
4. Now you can make the final cleaning of the apartment using the main brush. If carpet contamination is strong, the turbo brush is used.

2.2 How much does it cost?

Spots of prices for components are very large. The cheapest parts can be bought from LG and Samsung manufacturers:

2.3 How to choose?

1. What to buy?

An important meaning when choosing components is a brand compatibility, because the main manufacturers produce special details for their technology. If there are no specialized details for your vacuum cleaner, you can buy nozzles of universal destination. Universal models are compatible with any brand of apparatus of harvesting equipment without a bag.

2. Take into account the diameter of the tube of your vacuum cleaner so that the components are easy to attach: the diameter of the nozzles is indicated in the instructions.

3. If you are going to buy a nozzle with a turbo on a mechanical drive, consider the power of your vacuum cleaner. When choosing a turbo electric drive, take into account the possibility of damage to delicate upholstery tissues and vors. Turbo will greatly relieve the surface of animal wool, but can simply pull out the whole pile from the carpet and spoil the sofa expensive.