Building your own robot that can clean your house is an exciting DIY project that doesn't have to cost a lot of money. With just a few affordable parts and basic coding skills, you can create an Arduino-powered cleaning robot using common household materials. Here's a step-by-step guide to building your own affordable DIY cleaning robot.
Introduction to Arduino Robotics
Arduino is an open-source electronics platform that allows you to create interactive devices with sensors and motors. Here's a quick overview of Arduino robotics:
-
Arduino microcontroller - This small circuit board serves as the brain of your robot. It runs the code and controls the components. The popular Arduino Uno is a good choice.
-
Sensors - Sensors like ultrasonic and infrared allow the robot to detect obstacles and navigate around your home.
-
Motors and wheels - Motors power the wheels to move your robot. DC motors are inexpensive and easy to control.
-
Chassis - The frame or body that houses the components. You can build it from wood, plastic or other materials.
-
Battery pack - A rechargeable lithium polymer (LiPo) battery powers the Arduino and motors.
-
Cables and motor controller - Wires connect the components and a motor controller board allows the Arduino to control motor speed/direction.
The Arduino ecosystem makes it simple to prototype and build robotics projects using these basic electronic components.
Planning the Robot Design
Before building your Arduino cleaning robot, you need to plan out your design:
-
Wheel layout - A two-wheeled or four-wheeled chassis design? Four wheels provide more stability.
-
Chassis material - Will wood, plastic or metal work best for your robot body? Consider weight and durability.
-
Component placement - Layout where the Arduino, battery and motors will mount onto the chassis.
-
Sensors - Decide how many sensors and what type, such as ultrasonic and infrared.
-
Cleaning mechanism - Will you attach a sweeper or duster to clean as it drives?
-
Programming language - Arduino coding uses a C/C++ based language. Plan the logic of your cleaning robot code.
-
Control method - Will your bot run autonomously or will you control it via remote control?
Constructing the Chassis
The chassis provides the frame or body of your cleaning robot. Here are some options for constructing a simple do-it-yourself chassis:
Wooden Platform Chassis
-
Cut two 6" x 6" squares of plywood or MDF wood as the base. Glue, nail or screw them together into a platform.
-
Attach caster wheels in the corners to allow the robot to roll in all directions.
Box Frame Chassis
-
Construct a rectangular frame from thin wooden boards, plastic sheets or acrylic pieces.
-
Drill holes in the corners to insert wheels or ball casters.
Repurposed Materials
-
Reuse the shell or case of an old broken appliance, like a CD player or VCR.
-
Attach brackets to mount the wheels, Arduino and other components.
Make sure to sand edges smooth and avoid leaving nails or screws protruding that could scratch floors. Also ensure the chassis is balanced; the battery often helps weigh down the rear.
Mounting the Motors and Wheels
DC motors drive the robot's wheels to move it around your floors. Here are some DIY options:
-
Small hobby motors - Inexpensive 6V-12V DC motors work well, mounted vertically to drive wheels.
-
Use mounting brackets and hardware to attach motor housings.
-
Motorized caster wheels - Easily adaptable all-in-one drivetrain units.
-
Drivetrain kits - Affordable tank tread kits allow vertical mounting of DC motors.
Use a motor controller circuit between the Arduino and motors to handle power requirements. Make sure to align the wheels straight and space them apart adequately for stability.
Adding Sensors to Navigate
Sensors give the robot "eyes" to see and navigate around obstacles:
-
Ultrasonic sensors - Detect objects and determine distance. Place several on the front, sides and back.
-
Infrared sensors - Can also check for obstacles. Requires emitter and receiver units.
-
Bump switches - Simple mechanical switches that trigger upon contact. Put on the front corners.
Attach the sensors firmly pointed in the proper direction. Run wires neatly along the interior sides back to the Arduino. Take care soldering the thin wiring of the sensor components.
Programming the Arduino
The Arduino code brings your robot to life by controlling the logic and movement:
-
Setup and loop functions - Primary code structure that initializes then cycles continuously.
-
Libraries - Include servo and motor libraries to control the drivetrain.
-
Drive logic - Define movements like forward, back, left and right turns.
-
Sensor logic - Process data from sensors to alter direction and avoid obstacles.
-
Timing - Use delays and timing to determine speed and duration of movements.
Start with simple code to make the motors spin and build up to navigating with sensors across the room. Troubleshoot any wiring or syntax issues as you test the code.
Constructing the Cleaning Mechanism
To automate floor cleaning, you need to attach a sweeper, duster or other cleaning tool:
-
Rotating sweeper - Attach a brush or sweeping cloth to a 6V motor with an extending arm.
-
Motorized wheels - Affix scrubbing pads to the drivetrain wheels to scrub floors as it drives.
-
Duster attachment - Mount a swiffer or dusting cloth in front to collect dust.
Make sure any cleaning components are firmly affixed and do not block sensors. code can activate the cleaning mechanism when the robot senses it is over debris or dirty floors.
Powering the Robot
The Arduino and motors require sufficient power from a battery source:
-
LiPo battery packs - Rechargeable lithium polymer batteries provide a compact power option.
-
Use a pack around 7.4V-12V with at least 2000mAh capacity.
-
NiMH packs - Nickel metal hydride AA battery packs are cheaper but bulkier.
-
AC power adapter - For testing, you can power the Arduino via AC to USB adapter.
Include an on/off switch to cut power. Monitor battery voltage periodically since maximum motor current draw can quickly drain batteries.
Assembling the Complete Robot
With the main components fabricated, it's time to assemble your DIY cleaning robot:
-
Mount Arduino, motors, wheels and sensors onto the structural chassis using brackets.
-
Solder and connect wires from the components back to Arduino interface.
-
Attach the battery pack with Velcro or double-sided tape at the rear.
-
Screw down the top plate over the electronics.
-
Test the wiring by powering on to ensure the motors spin properly.
-
Upload your Arduino program to initiate the brain of the robot.
The final assembly step is attaching your cleaning tool like a rotating sweeper. Power it on and watch your completed robot come to life!
Conclusion
Building a DIY Arduino robot that can roam around and clean your floors is an achievable weekend project using common components and basic robotics skills. Following the tips in this guide about constructing the chassis, drivetrain, sensors and cleaning mechanism, you can have your own affordable cleaning robot up and running in no time!