Difference between revisions of "Roomba - vacuuming robots"

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(Communication protocol)
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The Roomba proprietary Serial Command Interface is available here: [http://www.irobot.lv/uploaded_files/File/iRobot_Roomba_500_Open_Interface_Spec.pdf iRobot Roomba Open Interface (OI) Specification].
 
The Roomba proprietary Serial Command Interface is available here: [http://www.irobot.lv/uploaded_files/File/iRobot_Roomba_500_Open_Interface_Spec.pdf iRobot Roomba Open Interface (OI) Specification].
 
To interface with the Roomba Serial Port you need a USB - Serial adapter (for 0-5V signals, NOT RS232 levels!). You can find the schematics and the PCB layout of such an adapter here: [http://airwiki.elet.polimi.it/mediawiki/index.php/Useful_Circuits#USB_-_Serial_adapter_.28iRobot_Roomba_variant.29 USB - Serial adapter (iRobot Roomba variant)]
 
  
 
=== Hacking the Roomba ===
 
=== Hacking the Roomba ===
  
Make your own [http://blog.makezine.com/archive/2006/02/how_to_make_a_roomba_seri.html Roomba-serial], [http://todbot.com/blog/2006/07/19/roombongle-a-roomba-usb-dongle/#more-119 Roomba-USB] or [http://blog.makezine.com/archive/2006/02/how_to_roomba_bluetooth_i.html Roomba-bluetooth] dongle.
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To interface with the Roomba Serial Port you need a USB - Serial adapter (for 0-5V signals, NOT RS232 levels!). You can find the schematics and the PCB layout of such an adapter here: [http://airwiki.elet.polimi.it/mediawiki/index.php/Useful_Circuits#USB_-_Serial_adapter_.28iRobot_Roomba_variant.29 USB - Serial adapter (iRobot Roomba variant)]
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You can also find other schematics on net as well as ready to use cables: [http://blog.makezine.com/archive/2006/02/how_to_make_a_roomba_seri.html Roomba-serial], [http://todbot.com/blog/2006/07/19/roombongle-a-roomba-usb-dongle/#more-119 Roomba-USB] or [http://blog.makezine.com/archive/2006/02/how_to_roomba_bluetooth_i.html Roomba-bluetooth].
  
 
=== Schedule ===
 
=== Schedule ===

Revision as of 18:50, 30 June 2010

Roomba is a low-cost robot produced by iRobot. It is intended to be a commercial cleaning robot, however with little to no modification it can become a powerful educational/hobbyist robotics platform.

Roomba 560

Sensors & Actuators

The Roomba comes with these basic sensors:

  1. Four IR based cliff sensors
  2. Two bump sensors
  3. One wall sensor
  4. A top mounted IR sensor. Used by Virtual Walls, Docking Station, and Remote Control
  5. One Dirt Detector (acoustic impact). Some Roombas have two.

The Roomba is sold commercially as a mobile vacuum cleaner, thus it also has these actuators:

  1. Two wheels drive with differential drive
  2. One main brush motor
  3. A side brush motor
  4. A Vacuum motor.

Communication protocol

The Roomba proprietary Serial Command Interface is available here: iRobot Roomba Open Interface (OI) Specification.

Hacking the Roomba

To interface with the Roomba Serial Port you need a USB - Serial adapter (for 0-5V signals, NOT RS232 levels!). You can find the schematics and the PCB layout of such an adapter here: USB - Serial adapter (iRobot Roomba variant)

You can also find other schematics on net as well as ready to use cables: Roomba-serial, Roomba-USB or Roomba-bluetooth.

Schedule

If you need to move a Roomba from the lab, you should first ask to Andrea Bonarini, and then fill in the table below.

ID Test Notes Where/Who Project
#1 OK AIRLab
#2 OK AIRLab
#3 Collaudato (Matteo) AIRLab
#4 OK + Batteria roomba #6 Paolo Belluco
#5 KO (bumper) AIRLab
#6 KO (bumper) AIRLab
#7 KO (alimentazione) AIRLab
#8 Collaudato (Simone) AIRLab
#9 Collaudato (Martino) USB cable and white battery charger borrowed Andrea Scalise, Niccolò Tenti Roomba project

See also

Disassembling a Roomba 560

External links

Roomba Hacking Forum

iRobot USA