Difference between revisions of "Roomba - vacuuming robots"

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Roomba is a low-cost robot produced by [http://www.irobot.it/ iRobot].
 
Roomba is a low-cost robot produced by [http://www.irobot.it/ iRobot].
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It is intended to be a cleaning robot, however with little to no modification it can become a powerful educational/hobbyist robotics platform.  
+
It is intended to be a commercial cleaning robot, however with little to no modification it can become a powerful educational/hobbyist robotics platform.  
 
[[Image:Roomba_1.JPG|right|Roomba 560]]
 
[[Image:Roomba_1.JPG|right|Roomba 560]]
  
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The Roomba is sold commercially as a mobile vacuum cleaner, thus it also has these actuators:
 
The Roomba is sold commercially as a mobile vacuum cleaner, thus it also has these actuators:
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# Two driving wheels
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# Two wheels drive with differential drive
 
# One main brush motor
 
# One main brush motor
 
# A side brush motor
 
# A side brush motor
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=== Communication protocol ===
 
=== Communication protocol ===
  
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The Roomba proprietary Serial Command Interface is available here: [http://www.irobot.com/images/consumer/hacker/Roomba_SCI_Spec_Manual.pdf Roomba SCI].
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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].
  
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=== Connecting to the Roomba ===
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=== Hacking the Roomba ===
  
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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].
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=== Schedule ===
 +
 
 +
If you need to move a Roomba from the lab, you should first ask to [[User:AndreaBonarini| Andrea Bonarini]], and then fill in the table below.
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 +
{| border="1"
 +
! ID !! Test !! Notes !! Where/Who !! Project
 +
|-
 +
| #1 || OK || || AIRLab ||
 +
|-
 +
| #2 || OK || || AIRLab ||
 +
|-
 +
| #3 || Collaudato (Matteo) || || AIRLab ||
 +
|-
 +
| #4 || OK || || AIRLab ||
 +
|-
 +
| #5 || KO (bumper) || || AIRLab ||
 +
|-
 +
| #6 || KO (bumper)|| || AIRLab ||
 +
|-
 +
| #7 || KO (alimentazione)|| || AIRLab ||
 +
|-
 +
| #8 || Collaudato (Simone)|| || AIRLab ||
 +
|-
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| #9 || Collaudato (Martino) || White recharger borrowed || AIRLab||
 +
|}
  
 
== See also ==
 
== See also ==
  
 
[[Disassembling_a_Roomba_560 | Disassembling a Roomba 560]]
 
[[Disassembling_a_Roomba_560 | Disassembling a Roomba 560]]
 +
 +
[[Roomba_project | Roomba project]] - A wall following application showing the functioning of Roomba exploiting Pyro software interface.
  
 
== External links ==
 
== External links ==
  
 
[http://www.robotreviews.com/chat/viewforum.php?f=4 Roomba Hacking Forum]
 
[http://www.robotreviews.com/chat/viewforum.php?f=4 Roomba Hacking Forum]
 +
 +
[http://www.irobot.com iRobot USA]

Latest revision as of 12:33, 29 September 2011

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 AIRLab
#5 KO (bumper) AIRLab
#6 KO (bumper) AIRLab
#7 KO (alimentazione) AIRLab
#8 Collaudato (Simone) AIRLab
#9 Collaudato (Martino) White recharger borrowed AIRLab

See also

Disassembling a Roomba 560

Roomba project - A wall following application showing the functioning of Roomba exploiting Pyro software interface.

External links

Roomba Hacking Forum

iRobot USA

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