How-to: Source BOM for OOMWOO Open-Source Vacuum Robot
I started by drafting a list of parts and deciding which have to be sourced – and which should be 3D printed. I searched each part on AliExpress to see what is available abundantly – and at what price. Find the master Bill of Materials (BoM) here. Caution – this post may contain errors and omissions.
Building in the open — notes from the parts hunt.
Table of Contents
Driving Wheels
We need a pair driving wheels – the left and the right wheel assemblies. Each driving wheel assembly consists of
- Motor
- Sealed gearbox
- Wheel drop sensor
- Motor’s encoder (to measure travel distance and speed)
- Suspension
- Wheel with a soft tire
- Electrical cables and connector(s)
Aftermarket driving wheel assemblies for – I guess – hundreds of consumer vacuum cleaner robots are widely available on AliExpress – including iRobot Roomba, Roborock, Dreame, Xiaomi, Eufy, Ecovacs, Narwal, Conga, iLife, 360 and so on. I have looked for those both abundantly available and most economical. Two families have stood out:
- Roborock S5 generation (older) – the round “puck” robots with no mop lift. These fit a large number of vacuums including Roborock S5, S50, S51, S52, S55, S502, and the budget C10, E20, E25 and E35.
- Roborock S5 Max generation (newer). These fit Roborock S4 Max, S45 Max, S5 Max, S50 Max, S55 Max, S6 MaxV, S6 Pure, S65 Pure, S65 MaxV, S7, S7 Pro, S7 MaxV, S7 Max Ultra, S70, S75, E4, E45, E5, E50, E55, G10, T7, T7S, Q5, Q7, Q7 Max, and Q Revo
As of June 2026, both cost are basically identical, ranging from $24/pair retail when purchasing 3 sets to $33/pair when purchasing a single set. Shipping included, coupons not applied and taxes excluded.
Follow OOMWOO build
Open-source robot vacuum community build updates
According to Google, Roborock vacuums are considered “highly reliable and premium” hardware-wise. The Roborock S5 Max family is newer than the Roborock S5 non-Max. It stands to reason that Roborock S5 Max parts are likely to be available in the aftermarket for a longer time. Therefore, we should pick Roborock S5 Max parts for sourcing.
As a sidenote, vacuum drive wheel gearboxes are made of plastic with gears large enough to be 3D printed DIY using, say, a resin printer. I have not tried doing that, though. Gearbox enclosures and wheels are made of plastic as well. Tires can be 3D printed using TPU. Therefore, it may be possible to purchase motors, sensors, suspension spring, gear shafts and cables – and DIY 3D print vacuum gearboxes at home.
That said, 3D printing gearboxes and TPU requires experience, increases build complexity and would hardly save you any money. Therefore, for the sake of keeping OOMWOO beginner-friendly, it seems prudent to source entire drive wheel assemblies.
Here are a few sellers of Roborock S5 Max drive wheel assemblies. I have no relation to any of them.
- https://www.aliexpress.us/item/3256810078830679.html
- https://www.aliexpress.us/item/3256804654874083.html
- https://www.aliexpress.us/item/3256807790516469.html
- https://www.aliexpress.us/item/3256804380606839.html
- https://www.aliexpress.us/item/3256811615892849.html
- https://www.aliexpress.us/item/3256804380606839.html
Main Brush
Main brushes come from the same big aftermarket pools as the fans — Roborock and Dreame/Xiaomi — so replacements are cheap and easy to find. The property that matters most is anti-tangle: OOMWOO targets a tapered rubber roller, which resists hair-wrap (the #1 robot-vacuum complaint) far better than the old bristle brushes.
Here are a few anti-tangle roller styles are on the market. As always, I have no relation to any of the sellers linked in this post. See the official Roborock accessories store for compatibility.
Single roller: Rubber + Bristles
Fits Roborock S4/S4 Max/S5/S5 Max/S50/S55/S6/S6 Pure/MaxV/S60/S65, E2–E5, E20–E35, C10, Xiaomi Mijia. Costs around $5–8.
- https://www.aliexpress.us/item/3256810418952023.html
- https://www.aliexpress.us/item/3256809034437747.html
- https://www.aliexpress.us/item/3256805581446282.html
- https://www.amazon.com/Roborock-Brushes-Replacement-Compatible-Cleaner/dp/B0BLWG84M5
- https://www.aliexpress.us/item/3256809070696637.html
Single roller: Rubber only
Fits Roborock S7/S70/S7+/MaxV/Pro, Q Revo/Pro/Plus, Q5/Q5+/Q7/Q7 Max, QV 35S, T7S/T7S Plus. Costs around $3-5.
- https://www.aliexpress.us/item/3256805967609630.html
- https://www.aliexpress.us/item/3256811784909897.html
- https://www.aliexpress.us/item/3256805922965503.html
- https://www.aliexpress.us/item/3256805581325046.html
Anti-tangle dual roller: Rubber only
Roborock DuoRoller fits Roborock S8 MaxV Ultra, G20S, V20, P10S Pro/Pro Plus. Costs around $8-12.
- https://www.aliexpress.us/item/3256810419103500.html
- https://www.aliexpress.us/item/3256807537406291.html
Anti-tangle dual roller: Rubber-only or + Bristles
Fits Roborock S8, S8+, S8 Pro Ultra, Q5 Pro, Q5 Pro+, Q8 Max, Q8 Max+, Q5 Max+, Q5 DuoRoller+, G20. Costs around $7-10.
- https://www.aliexpress.us/item/3256811814672482.html
- https://www.aliexpress.us/item/3256805942053184.html
Anti-tangle split single roller: Rubber + Bristles
Roborock DuoDivide fits Roborock Saros 10/10R/20/20 Sonic, S10 MaxV Ultra, S9 MaxV/MaxV Ultra, QRevo Edge/Curv/P20 Pro. Costs around $5-10.
- https://www.aliexpress.us/item/3256811805131171.html
- https://www.aliexpress.us/item/3256811746644337.html
- https://www.aliexpress.us/item/3256811765880969.html
- https://www.aliexpress.us/item/3256812179096202.html
- https://www.aliexpress.us/item/3256811412112777.html
- https://www.aliexpress.us/item/3256811897780214.html
- https://www.aliexpress.us/item/3256810419219296.html
- https://www.aliexpress.us/item/3256812308226096.html
- https://www.aliexpress.us/item/3256809231859574.html
Anti-tangle tapered dual roller: Rubber + Bristles
Fits Dreame X60 Max, X50 Ultra/Master/Pro Ultra, L40S Pro Ultra/Ultra; MOVA V50 Ultra. Costs around $7-10.
- https://www.aliexpress.us/item/3256809663456265.html
- https://www.aliexpress.us/item/3256812329913352.html
Anti-tangle “TriCut” hair-cutting dual roller: Rubber + Bristles
Dreame TriCut fits Dreame L20/L30/L40/X30/X40 Ultra, L10s Ultra, S10 Pro/S20, X10+; Mova E30 Ultra; Xiaomi M30S/M40 and costs around $20-30.
- https://www.aliexpress.us/item/3256811923458329.html
- https://www.aliexpress.us/item/3256811981463979.html
- https://www.aliexpress.us/item/3256812253616479.html
Main Brush Motor and Gearbox
As far as I can tell, Roborock S5/50/51/52/55 502-00/01/02/03**S552-00, S6, Xiaowa C10 E20 E25 E35 have the most abundant and inexpensive main brush motor and gearbox.
- https://www.aliexpress.us/item/3256804884390364.html
- https://www.aliexpress.us/item/3256803294143031.html
- https://www.aliexpress.us/item/3256811626726671.html
- https://www.aliexpress.us/item/2251832802289148.html
- https://www.aliexpress.us/item/3256806865383068.html
- https://www.aliexpress.us/item/3256812490939439.html
- https://www.aliexpress.us/item/3256805579745056.html
- https://www.aliexpress.us/item/3256811908508571.html
- https://www.aliexpress.us/item/3256807694140946.html
- https://www.aliexpress.us/item/3256809355494939.html
- https://www.aliexpress.us/item/3256806908445196.html
Interestingly, Roborock S5 Max, S6 MaxV, S6 Pure, T6, T7, T7S, S7, S7 Plus, S70, S75, S7 MaxV/Ultra/Pro Ultra, G10, Q7 Max/Max+, T8, T8 Plus, Xiaomi Mijia 1C/STYTJ01ZHM, Mop 2C / XMSTJQR2C motors and gearboxes appear to be similar, albeit with different connectors. This is something that should be verified.
However, this most abundant motor/gearbox accepts the rubber-and-bristles brush (see above). That brush is not particularly good anti-tangling-wise.
Another candidate is Dreame L10s, L10 Ultra/Prime, L20, L30, E30 Ultra, X30, X40 Ultra motor/gearbox – relatively plentiful and accepts a rubber-only Dreame brush. Rubber-only brushes are better at tangling resistance.
Motor assemblies are available for more advanced anti-tangling brushes as well, including dual rubber and split single roller. However, such motor assemblies are not abundant at all as far as I can see.
I think we should try taking the most abundant and cheap motors/gearboxes and 3D print a small adapter to fit the best tangle-resistant brushes we want.
Google says Roborock S5 uses RC500-KW/14440, RC500-KW/16260 or similar RC500 DC brushed motors for the main brush.
Battery Pack
Robot-vacuum battery packs are wonderfully standardized: almost this entire class uses a 4S2P Li-ion pack — four cells in series, two in parallel — at 14.4 V nominal, around 5200 mAh (~75 Wh), with a small BMS built into the pack. That makes them cheap and easy to source, and it is exactly what OOMWOO targets. Two common OEM packs:
This is a lithium-ion pack with in-pack BMS (Battery Management System) that protects the battery from over-charge, over-discharge and short protection. I expect these to include an NTC thermistor that shuts down battery charging in case of overheating. Don’t use these packs directly – OOMWOO vacuum will have an I/O board that includes a battery charging circuit.
| Configuration | 4S2P Li-ion, datasheet |
| Nominal voltage | 14.4 V |
| Capacity | ~5200 mAh (~75 Wh) |
| Protection | BMS built into the pack |
| Connector | 4-pin: B+, B−, NTC, sense (verify on your pack) |
| OEM part numbers | BRR-2P4S-5200, 4S2P-MMBK, P2150-4S2P-XWDLS |
| Price | $16–30 |
These packs fit a wide range of Xiaomi / Roborock vacuums — Xiaomi Mijia 1/1S/1C/1T/G1; Roborock S4/S5/S5 Max/S6/S6 Pure/MaxV/S7/S7 MaxV, Q5/Q7 Max, T4/T6/T7/T60/T65; Xiaowa E20/E25/E35; C10.
Here are a few battery sellers. As always, I have no relation to any of them. I’m providing these links to help you verify my findings and to seed your own searches. Keep in mind that prices do fluctuate as seasonal sales and promotions come and go.
- https://www.aliexpress.us/item/3256808920209634.html
- https://www.aliexpress.us/item/3256810535903644.html
- https://www.aliexpress.us/item/3256807025191697.html
- https://www.aliexpress.us/item/3256812095569659.html
- https://www.aliexpress.us/item/3256809951167853.html
- https://www.aliexpress.us/item/3256812022082417.html
- https://www.aliexpress.us/item/3256809370551102.html
- https://www.aliexpress.us/item/3256812097577713.html
- https://www.aliexpress.us/item/3256810322127985.html
- https://www.aliexpress.us/item/3256809119519582.html
- https://www.aliexpress.us/item/3256812232849098.html
- https://www.aliexpress.us/item/3256812209788375.html
2D LiDAR
Robot vacuums navigate with a spinning 2D LiDAR — a laser distance sensor (LDS) on the turret. There is a deep aftermarket from Roborock, Xiaomi and Dreame, so a working LiDAR runs about $13–30. makerspet has already wired several of these to a Raspberry Pi 5, and the open-source kaiaai/LDS library supports 25+ models — OOMWOO uses one of these off-the-shelf units. Common options:
As with the other parts, the vacuum list is a sourcing search aid, not a guarantee. LiDARs are especially keyword-sensitive to find — search the model, the PCB board mark (e.g. X-WPFTB-V2.6.2), and both “LDS” and “LiDAR” spellings — and match the connector, pinout and mount to your build before buying.
Dreame/Xiaomi – PCB marking X-WPFTB-V2.6.2
Fits Dreame L10s/Pro/Ultra/Prime, L10/L20/L30 Ultra, W10s/W20; Xiaomi X10+/X20/X30/X40, S10/S20+ and costs $16–26.
- https://www.aliexpress.us/item/3256809952200542.html
- https://www.aliexpress.us/item/3256810606317399.html
- https://www.aliexpress.us/item/3256812155312670.html
- https://www.aliexpress.us/item/3256811616105745.html
- https://www.aliexpress.us/item/3256812468811551.html
- https://www.aliexpress.us/item/3256811638290046.html
- https://www.aliexpress.us/item/3256805826182143.html
- https://www.aliexpress.us/item/3256808519037759.html
Dreame – PCB marking X-Wireless board-V1.13.3
Fits Dreame W10, F9, D9, D9 Pro, D9 Plus, D9 Max, L10 Pro, Z10 Pro and costs $15-25.
- https://www.aliexpress.us/item/3256806944695867.html
- https://www.aliexpress.us/item/3256811706295298.html
- https://www.aliexpress.us/item/3256809319897363.html
Dreame – PCB marking WPFTBCD-V1.0.1
Fits Dreame W10, F9, D9/Pro/Plus/Max, L10 Pro, Z10 Pro and costs $16–27.
- https://www.aliexpress.us/item/3256811573011293.html
- https://www.aliexpress.us/item/3256811831653053.html
- https://www.aliexpress.us/item/3256811695613591.html
Roborock LDS02RR, LDS01RR
Fits Xiaomi Mi Robot 1s SDJQR01RR SDJQR02RR SDJQR03RR, Roborock S45 Max, S5, S5 Max, S50, S51, S55, S502-00/01/02/03, S550-00, S6, S6 MaxV, S6 Pure, S7, S7 MaxV, E5 and costs $14–32.
LDS02RR listings:
- https://www.aliexpress.us/item/3256807153970373.html
- https://www.aliexpress.us/item/3256804474117017.html
- https://www.amazon.com/KKXYDMV-Compatible-Roborock-Replacement-Accessories/dp/B0FPF1BHRD/
LDS01RR listings:
- https://www.aliexpress.us/item/3256808830983118.html
- https://www.aliexpress.us/item/3256809498722879.html
3irobotix Delta-2A, -2B and -2G
Fits Xiaomi Mijia Mop P Pro STYTJ02YM 2S, XMSTJQR2S 3C S10 B106GL B106CN, S10, S12, T12 and costs $13–25.
- https://www.aliexpress.us/item/3256803953388427.html
- https://www.aliexpress.us/item/3256808435129989.html
- https://www.aliexpress.us/item/3256811364302282.html
- https://www.aliexpress.us/item/3256805585962238.html
- https://www.aliexpress.us/item/3256812029497413.html
- https://www.aliexpress.us/item/3256812192107819.html
- https://www.aliexpress.us/item/3256806913103794.html
- https://www.aliexpress.us/item/3256809371025760.html
LDROBOT LD14P
Appears to be used in Dreame X30/X40 Series and Xiaomi Mijia X20 Plus C102/Mop2. Expect to pay roughly $13–23 for a salvaged part and around $50 new in retail box – depending on model and how hard you hunt.
Remember that part prices depend on your search keywords. Make sure to apply coupons and try timing your purchases to coincide with seasonal sales and promotions. As always, I have no relation to any of the sellers.
- https://www.aliexpress.us/item/3256812428698351.html
- https://www.aliexpress.us/item/3256808683714140.html
Caster Wheel
Vacuum robot caster wheels – also known as universal wheel assemblies – can be 3D printed DIY at home and consist of
- Roller
- Roller shaft, steel
- Housing
- Pivot pin, steel
The roller can be 3D printed using the TPU soft rubbery plastic. The pin and shaft can be sourced, or one could just use a machine screw.
That said, I have searched AliExpress for vacuum cleaner caster wheels anyway and found that iRobot Roomba casters are cheapest and most abundant. This is because iRobot has used the same caster part across its every series for around 15 years. Google says Roomba vacuums are “generally reliable”. Sounds good enough.
- iRobot Roomba series 500/600/700/800/900/e/i/j
- Roborock old-style caster — tool-free pull-out, gen1 part covers Roborock S4, S5/S50, S6, T4/T6, Xiaomi gen1/gen2 vacuums and the budget Roborock C10/E20/E25/E35
- Roborock new-style caster – screwed-in, including Roborock S5 Max, S6 Pure, S6 MaxV, S7, S7 MaxV, Q5/Q7/Q Revo, S8 Pro
iRobot casters cost $2.50-$5 depending on how many you order. Roborock old-style casters cost basically same or slightly more. Roborock new-style casters are more expensive and harder to find.
Both iRobot and Roborock old-style casters have a pull-out design that makes cleaning casters from tangled hair easy. The Roborock new-style caster has an integrated bearing and requires a screwdriver to remove.
I have several vacuum cleaner robots and pet hair getting tangled in caster wheels has been one of my little pain points. This hair tangle problem could be solved by using a ball caster or adding a “thread guard” to wheel casters. For now, it seems prudent to reuse/source the cheap and plentiful iRobot caster wheels and try designing a hair-tangle-resistant caster wheel later.
Here is a sample list of AliExpress iRobot caster sellers. I am not associated with any of them.
- https://www.aliexpress.us/item/3256806123331102.html
- https://www.aliexpress.us/item/2255800999621727.html
- https://www.aliexpress.us/item/3256806525708329.html
Suction Fan
There are at least three deep aftermarket pools for vacuum robot cleaner suction fans – Xiaomi (models before Xiaomi adopted its Roborock brand), Roborock and Dreame. Dreame is Xiaomi’s OEM and some Dreame suction fans fit Xiaomi (pre-Roborock) vacuums.
Here are suction fan options in order of suction power. The kPa is the fan’s own rating — verify it against the fan’s model number / datasheet. The vacuum models are a sourcing search aid only: a fan listed as “fits vacuum X” is not necessarily X’s original fan — lower-power replacements are sold as compatible for higher-suction models — so a model appearing here does not guarantee that suction. This list can still have errors; treat it as a starting point.
| Suction | Vacuum Model | Fan Model |
|---|---|---|
| 2 kPa | Roborock S50/S51/S55/S6/S65/S5 Max/S6 Pure | Nidec 20N704P200 |
| 2.5 kPa | Roborock S7/T7/T7S/S6 MaxV | Nidec 20N704R980 Nidec 20N704R500 Nidec 20N704R310 (↗) Nidec 20N704P160 |
| 5.1-6 kPa | Roborock G20/S80/S85/S80+ /S85+ /S80 Pro Ultra/S85 Pro Ultra Ultron S Plus | Dreame MSD-C-3 |
| 6 kPa | Dreame L10s Prime/Pro, L10s Ultra Gen 1 (Gen 2 = 10 kPa!), D10s Plus, X10+ (X20+ verify) | Nidec 20N709U020 |
| 7 kPa | Dreame S10 / S10 Plus / L20 Ultra / L30 Ultra | Dreame MSD-D |
| 7 kPa | Roborock P10 Pro Qrevo Maxv P10S Qrevo s Qrevo Pro | Roborock BL24131607 |
| 10-12 kPa | Roborock G20S S8 MaxV P10pro/P10spro/P20, Xiaomi S40 OV81 | Nidec 22N704V160, Roborock BL24131616 |
| 20 kPa | Dreame X50 Ultra X50 | Dreame MSD-G |
| 36 kPa | Roborock Saros 20 | TBD |
These vacuum fans utilize BLDC motors and cost around $10-$30 with Roborock Saros 20 fans reaching $40.
Here are a few suction fan sellers for your browsing convenience. I have no relation to any of them.
Dreame MSD-C-3 fan 6kPa
- https://www.aliexpress.us/item/3256809787302334.html
- https://www.aliexpress.us/item/3256809826201428.html
- https://www.aliexpress.us/item/3256809328699283.html
- https://www.aliexpress.us/item/3256810170666194.html
- https://www.aliexpress.us/item/3256808139999730.html
Nidec 20N709U020 fan 6kPa
- https://www.aliexpress.us/item/3256809086929320.html
Roborock BL24131616 fan 10kPa
- https://www.aliexpress.us/item/3256807591818513.html
- https://www.aliexpress.us/item/3256812064180912.html
- https://www.aliexpress.us/item/3256809969997195.html
Nidec 22N704V160 fan 10kPa
- https://www.aliexpress.us/item/3256809364572090.html
- https://www.amazon.com/Fan-Motor-Qrevo-Master-Accessories/dp/B0DG2XBS5Z
- https://www.aliexpress.us/item/3256810504607007.html
Roborock BL24131607 fan 7kPa
- https://www.aliexpress.us/item/3256809008537547.html
Dreame MSD-D fan 7kPa
- https://www.aliexpress.us/item/3256808530963376.html
- https://www.aliexpress.us/item/3256808530630049.html
Dreame MSD-G fan 20kPa
- https://www.aliexpress.us/item/3256809857120061.html
Roborock Saros 20 fan 36kPa
- https://www.aliexpress.us/item/3256811992779716.html
- https://www.aliexpress.us/item/3256811976191255.html
- https://www.aliexpress.us/item/3256811977672852.html
- https://www.aliexpress.us/item/3256811994958980.html
Nidec 20N704R980 fans 2.5kPa
- https://www.aliexpress.us/item/3256804193249172.html
- https://www.aliexpress.us/item/3256805630131653.html
- https://www.aliexpress.us/item/3256812062418699.html
- https://www.aliexpress.us/item/3256812411926615.html
- https://www.aliexpress.us/item/3256812420805502.html
Compute
Older mid- and top tier consumer vacuum cleaners with LiDAR typically use 4-core ARM CPU SoC with 256 to 2GB DRAM. Budget vacuum cleaners with LiDAR manage with merely 64MB DRAM.
NPU is needed for vacuums with advanced camera-based obstacle avoidance. Top-tier consumer vacuums often use two cameras.
I’ve considered these options:
- Having a compute board – and a separate I/O board to control motors and sensors
- Having a single PCB with motor/sensor control and compute (SoC, DRAM, eMMC, Wi-Fi). This approach is typical for consumer vacuums.
Having a single PCB is possible but involves considerably more work compared to using an off-the-shelf popular compute board like Raspberry Pi.
Compute modules need to have Wi-Fi and minimal OOMWOO compute requirements: performance equivalent to Raspberry Pi 4 with 4GB RAM (or 2GB if we succeed optimizing OOMWOO software).
- Raspberry Pi 4 or 5 proper
- Raspberry Pi Compute Module with Wi-Fi – CM4 or CM5
- Third-party Pi CM4/CM5 compatible modules including Radxa
- Arduino Uno Q
Vacuum cleaner robots need to have their height as low as possible in order to fit under furniture. Raspberry Pi 4/5 and Arduino Uno Q boards are around 20 mm tall – plus around 3 mm for contacts at the back of the board. Pi compute modules 5 mm tall – plus an additional 1.5-4mm connector mating height.
Raspberry Pi compute modules CM4 and CM5 appear to be the best fit because they are slim, are well-supported and meet the minimal OOMWOO compute requirements.
| Compute | Price | Model |
|---|---|---|
Raspberry Pi CM4 ≥4 GB | $95 | CM4104000 PiShop Newark DigiKey CM4104008 Newark CM4104016 CM4104032 |
Raspberry Pi CM5 ≥4 GB | $72.50 | CM5102000 PiShop Newark DigiKey CM5102016 CM5102032 CM5104064 |
| Raspberry Pi CM4 ≥2 GB* | $62.50 | *if software fits CM4102000 PiShop Newark DigiKey CM4102008 CM4102016 CM4102032 |
| Raspberry Pi CM5 ≥2 GB* | $72.50 | Raspberry Pi CM5 ≥4 GB*if software fits CM5102000 PiShop Newark DigiKey CM5102016 CM5102032 CM5104064 |
Here is how Pi CM4 and CM5 compare to Arduino Uno Q.
| Arduino Uno Q | RPi CM4 | RPi CM5 | |
|---|---|---|---|
| SoC / CPU | QRB2210, 4×A53 @2.0GHz | BCM2711, 4×A72 @1.8GHz | BCM2712, 4×A76 @2.4GHz |
| NPU | None | None | None |
| MIPI CSI cameras | 2 (need breakout header) | 2 (native FPC) | 2 (shared cam/display) |
| 4GB + WiFi price | $79 in stock | $95 backordered | $105 in stock |
| 2GB + WiFi price | $59 in stock | $62.50 in stock | $72.50 in stock |
| eMMC | 8-16GB | No | No |
| Onboard MCU | STM32U585, ~8 ADC, ~47 GPIO | No | No |
| OOMWOO I/O board carrier | Q’s bottom connectors | CM4 socket | CM4/CM5 socket |
| Ecosystem | Debian on Qualcomm | Huge community | Huge community |
| Board W x L | 68.85 x 53.34 x 20mm | 55 x 40 x 4.7mm | 55 x 40 x 4.7mm |
| Conclusion | Saves $3.50-$16, adds 15mm height | Meets minimum requirements | Meets requirements |
Please visit the OOMWOO open-source I/O board repository for more details.
Cliff Sensors, Bumper Switches
Cliff sensors and bumper switches often come in bundles, wiring included. Considering aftermarket abundance, pricing and ease of reuse, here are a few options:
iRobot Roomba
This bundle of 4 IR cliff sensors and 2 bumper switches fits iRobot Roomba 500 600 700 800 528 552 564 595 560 570 610 615 620 625 630 650. $6-10 for the entire bundle.
- https://www.aliexpress.us/item/3256809024499689.html
- https://www.aliexpress.us/item/3256812076397186.html
- https://www.aliexpress.us/item/3256812077360030.html
- https://www.aliexpress.us/item/3256812485366316.html
- https://www.aliexpress.us/item/3256812478696570.html
- https://www.aliexpress.us/item/3256812486357522.html
- https://www.aliexpress.us/item/3256812452635778.html
- https://www.aliexpress.us/item/3256811778688536.html
- https://www.aliexpress.us/item/3256805962958256.html
- https://www.aliexpress.us/item/3256805643020851.html
- https://www.aliexpress.us/item/3256807125841880.html
Roborock S5 series
This bundle of 4 IR cliff sensors, 2 bumper switches and what-appears-to-be a plug-in panel fits Roborock S5, S50, S51, S52, S53, S55, S502-00/01/02/03 ** S552-00.
- https://www.aliexpress.us/item/3256811709260756.html
- https://www.aliexpress.us/item/3256812076928691.html
- https://www.aliexpress.us/item/3256812505380666.html
Roborock S6 series
This bundle of 6 IR cliff sensors and 2 bumper switches fits Roborock Roborock S6, S60, S61, S65, S6 Max, T6, T60, T61, T65.
- https://www.aliexpress.us/item/3256811810827453.html
- https://www.aliexpress.us/item/3256812470280848.html
- https://www.aliexpress.us/item/3256811910202997.html
Side Brush
I’ve looked at Roborock, iRobot and Dreame. Let’s start with Roborock.
Roborock side brushes
Roborock side brushes in the aftermarket are abundant and fit a large number of Roborock vacuum models. Here are a few brush types:
| Brush Family | Anti-tangle | Carpet | Note |
|---|---|---|---|
| 3-arm nylon / old | Poor | Best | Nylon sheds |
| 5-arm silicon | Good | Moderate | Non-shedding |
| 2-arm curved | Best | Moderate | Non-shedding |
The 2-arm curved Roborock’s “Zero-Tangling” side brush has an arc-shaped asymmetric design that uses centrifugal force to walk hair off the arm tips instead of letting it wrap.
All these brushes appear to be interchangeable, but I need to verify that.
Roborock 3-Arm Side Brush
- https://www.aliexpress.us/item/3256811980347501.html
- https://www.aliexpress.us/item/3256803158635463.html
- https://www.aliexpress.us/item/3256810419158421.html
- https://www.aliexpress.us/item/3256811886225066.html
- https://www.aliexpress.us/item/3256808755085079.html
- https://www.aliexpress.us/item/3256806863314278.html
- https://www.aliexpress.us/item/3256812271213149.html
- https://www.aliexpress.us/item/3256809634541716.html
- https://www.aliexpress.us/item/3256812360187212.html
Roborock 5-Arm Side Brush
- https://www.aliexpress.us/item/3256811616067709.html
- https://www.aliexpress.us/item/3256805967609630.html
- https://www.aliexpress.us/item/3256805581446285.html
- https://www.aliexpress.us/item/3256809409177488.html
- https://www.aliexpress.us/item/3256811638268164.html
- https://www.aliexpress.us/item/3256811629260715.html
- https://www.aliexpress.us/item/3256804819562457.html
Roborock 2-Arm Curved Side Brush
- https://www.aliexpress.us/item/3256811805131171.html
- https://www.aliexpress.us/item/3256812384574654.html
- https://www.aliexpress.us/item/3256811994893169.html
- https://www.aliexpress.us/item/3256812452770904.html
- https://www.aliexpress.us/item/3256812486794874.html
- https://www.aliexpress.us/item/3256809888441869.html
- https://www.aliexpress.us/item/3256809166534495.html
- https://www.aliexpress.us/item/3256809696355519.html
Roborock Side Brush Motors, Gearboxes
Brush motor gearbox assemblies come in two types – fixed and those equipped with an extendable robotic arm. Starting with S8 MaxV Ultra and Qrevo series, Roborock “FlexiArm” side brush (and mop pad) physically swings outward from the vacuum’s body to clean deep into corners, edges, and under kitchen cabinets.
Roborock S5 Fixed Side Brush Module
One fixed motor gearbox assembly fits a particularly large number of (older) Roborock vacuums including Roborock S5, S50, S51, S52, S55, S502-00/01/02/03** S552-00, S5 Max, S6, S6 Pure, S6 MaxV, S60, S61, S65, S7, S7 MaxV, S7 Plus, S70, S75, Xiaowa/Xiaomi C10 E20 E25 E35. This motor gearbox assembly costs $7-10 and comes with no cable or connector.
- https://www.aliexpress.us/item/3256808453926490.html
- https://www.aliexpress.us/item/3256808605231201.html
- https://www.aliexpress.us/item/3256806908500738.html
- https://www.aliexpress.us/item/3256809360464625.html
- https://www.aliexpress.us/item/3256811791334757.html
- https://www.aliexpress.us/item/3256806908500738.html
- https://www.aliexpress.us/item/3256810352356179.html
- https://www.aliexpress.us/item/3256806865325282.html
- https://www.aliexpress.us/item/3256806427777095.html
- https://www.aliexpress.us/item/3256802772211421.html
- https://www.aliexpress.us/item/3256806704501047.html
- https://www.aliexpress.us/item/3256809245094329.html
- https://www.aliexpress.us/item/3256812478473221.html
- https://www.aliexpress.us/item/3256812480692991.html
- https://www.aliexpress.us/item/3256812421180830.html
Roborock Qrevo FlexiArm Side Brush Module
Another Roborock side brush motor assembly does come with an arm, is abundant in the aftermarket and fits newer Roborock vacuums including Roborock Qrevo Master, Qrevo Edge, Qrevo Slim, Qrevo Pro, Qrevo S Pro, S8 MaxV Ultra, S8 Max Ultra, Q55 Pro, G20, G20S, V20.
This premium FlexiArm side brush assembly costs $18-35.
- https://www.aliexpress.us/item/3256812253468607.html
- https://www.aliexpress.us/item/3256810423694557.html
- https://www.aliexpress.us/item/3256810409550832.html
- https://www.aliexpress.us/item/3256812123170026.html
- https://www.aliexpress.us/item/3256812494048314.html
- https://www.aliexpress.us/item/3256811822523035.html
- https://www.aliexpress.us/item/3256812497573668.html
- https://www.aliexpress.us/item/3256811822614919.html
- https://www.aliexpress.us/item/3256812493986062.html
- https://www.aliexpress.us/item/3256811599948791.html
- https://www.aliexpress.us/item/3256812498970265.html
- https://www.aliexpress.us/item/3256812504531446.html
- https://www.aliexpress.us/item/3256812492537825.html
- https://www.aliexpress.us/item/3256810479828192.html
- https://www.aliexpress.us/item/3256809594686240.html
iRobot Roomba Side Brush, Motor and Gearbox
iRobot has been using the same side brush, motor and gearbox across a large number of designs including Roomba 500 600 700 800 900 I3 E5 E6 I3 I4 I5 I6 I7 I8 J7 Plus. However, according to Google, this gearbox is not sealed, causing dust to get in sometimes.
The motor-and-gearbox module costs around $7-10 on AliExpress including shipping.
- https://www.aliexpress.us/item/3256811824770876.html
- https://www.aliexpress.us/item/3256811672229130.html
- https://www.aliexpress.us/item/3256806401662759.html
- https://www.aliexpress.us/item/3256808373055978.html
- https://www.aliexpress.us/item/3256807125677282.html
Dreame Side Brush Motor Assembly
Dreame L10s Pro series
This particular side brush assembly fits Dreame L10s Pro, L10 Ultra, L10s Ultra, L20 Ultra, L30 Ultra, X20 Pro, D20 Ultra, Xiaomi Mijia X10 X20, Mova S10, Xiaomi X10+, S20+, Omni Mop2, other models and costs $7-22. This assembly looks similar to the one from Roborock S5 except the back of the DC motor, the cable and its connector.
- https://www.aliexpress.us/item/3256811894450063.html
- https://www.aliexpress.us/item/3256810069292618.html
- https://www.aliexpress.us/item/3256810501706892.html
- https://www.aliexpress.us/item/3256810501706892.html
- https://www.aliexpress.us/item/3256812490316207.html
- https://www.aliexpress.us/item/3256812483828221.html
- https://www.aliexpress.us/item/3256809319088009.html
- https://www.aliexpress.us/item/3256810318902665.html
- https://www.aliexpress.us/item/3256812426568890.html
- https://www.aliexpress.us/item/3256812416818507.html
- https://www.aliexpress.us/item/3256812424311073.html
- https://www.aliexpress.us/item/3256812467855184.html
- https://www.aliexpress.us/item/3256812485588998.html
- https://www.aliexpress.us/item/3256812490853054.html
- https://www.aliexpress.us/item/3256806593272834.html
- https://www.aliexpress.us/item/3256812236296665.html
- https://www.aliexpress.us/item/3256812478675171.html
Dreame X40 series
This extendable side brush assembly fits Dreame X40 Ultra, X40 Pro Ultra, X40 Master, X30 Ultra, Mova P50, possibly some other models and costs $22-31. Dreame’s extensible side brushes lift ~10mm over obstacle.
- https://www.aliexpress.us/item/3256809837739030.html
- https://www.aliexpress.us/item/3256811619976972.html
- https://www.aliexpress.us/item/3256807216736135.html
- https://www.aliexpress.us/item/3256811621608007.html
- https://www.aliexpress.us/item/3256810360035407.html
- https://www.aliexpress.us/item/3256811950629788.html
- https://www.aliexpress.us/item/3256811834393622.html
- https://www.aliexpress.us/item/3256812517803027.html
- https://www.aliexpress.us/item/3256812264818905.html
- https://www.aliexpress.us/item/3256812244092405.html
Dreame X50 series
This is another extendable side brush assembly. It fits Dreame X50 Ultra, X50s Pro Ultra, Matrix 10 Ultra, Aqua 10 Ultra, Mova V50 and costs $21-26.
- https://www.aliexpress.us/item/3256811783484139.html
- https://www.aliexpress.us/item/3256809838672823.html
- https://www.aliexpress.us/item/3256812447406536.html
- https://www.aliexpress.us/item/3256809933369403.html
- https://www.aliexpress.us/item/3256812515461283.html
- https://www.aliexpress.us/item/3256812499590291.html
- https://www.aliexpress.us/item/3256812524326039.html
Dreame Side Brushes
Dreame Bot L10 Prime, L10s Ultra, L10s Pro Ultra Heat, X30 Ultra, X30 Pro, D9, D9 Max, L10 Pro, L10s Ultra Gen2, X10, D10S Pro, D10S Plus, Trouver RLS3 side brushes have 3 straight arms. These cost $2-5.
- https://www.aliexpress.us/item/3256811776019537.html
- https://www.aliexpress.us/item/3256806793504894.html
- https://www.aliexpress.us/item/3256811720240085.html
- https://www.aliexpress.us/item/3256808684931892.html
- https://www.aliexpress.us/item/3256812015409108.html
- https://www.aliexpress.us/item/3256812390555661.html
Dreame L40s UItra, L40s Pro UItra, X50 Ultra, S30 Pro/Ultra, S40 Pro Ultra, X40 Pro, X40 Ultra, X40 Master, L40 Ultra, L50 Ultra, L40 Ultra Gen 2, X60 Ultra, X60 Max Ultra Complete, L60 Pro Ultra side brushes (newer) have 3 angled arms. These cost $5-11.
- https://www.aliexpress.us/item/3256811838693392.html
- https://www.aliexpress.us/item/3256812114847406.html
- https://www.aliexpress.us/item/3256810418659763.html
- https://www.aliexpress.us/item/3256811814129946.html
- https://www.aliexpress.us/item/3256812499512020.html
Wall Sensor Assembly
Wall sensors are not available in quantities abundant enough for massive DIY builds. The most popular one is Roborock S7 MaxV, G10, S7 Pro Ultra, Dreame W10 and W10 Pro today is available from 9 sellers only – with 7 of those overpriced.
- https://www.aliexpress.us/item/3256811760877361.html
- https://www.aliexpress.us/item/3256812054507557.html
- https://www.aliexpress.us/item/3256805120583964.html
- https://www.aliexpress.us/item/3256812445938865.html
- https://www.aliexpress.us/item/3256812244032934.html
- https://www.aliexpress.us/item/3256805120591097.html
- https://www.aliexpress.us/item/3256812470014093.html
- https://www.aliexpress.us/item/3256807774244877.html
- https://www.aliexpress.us/item/3256807774244877.html
Since wall sensors are not easy to purchase, we will have to make one ourselves using a small custom PCB, an LED IR 940nm LED and a TSOP38238 IR receiver.
A vacuum cleaner wall sensor appears to perform several jobs:
- Detect dock presence
- Detect virtual wall presence
- Detect a wall reflection
Measuring distance using IR reflection based on its intensity alone is problematic because the IR reflection signal amplitude depends on the wall’s reflection, which in turn depends on the wall paint and material. If this becomes a problem, we can add a VL53L0X time-of-flight sensor.
Carpet Sensor
The carpet sensor is an ultrasonic emitter-and-receiver operating at 300kHz at a fixed distance of ~30mm. The sensor does not measure time-of-flight distance. Instead, the sensor measures the amplitude of the reflected acoustic signal. Sound bounces off bare floors with little attenuation as opposed to carpeted floors. The sensor fits Roborock S7, S7 Max Ultra, S7 MaxV, S7 Pro, S8, S8 Plus, S8 Pro Ultra, Qrevo, P10, Qrevo MaxV, P10 Pro, Qrevo Plus, Dreame W10, W10 Pro, L10 Ultra, L10 Prime, L10s Ultra, L20 Ultra, L10s Prime, Ecovacs T10 OMNI TURBO DBX33 DBX23 X1 OMNI DEX11 DEX11 T20 Pro and costs $6-12 retail.
This sensor has a low retail availability. I’ve found only 6 sellers. Therefore, this sensor may need to be purchased factory direct. I can do that and make it available as part of the vacuum build kit.
- https://www.aliexpress.us/item/3256808845934210.html
- https://www.aliexpress.us/item/3256812496824174.html
- https://www.aliexpress.us/item/3256811957390244.html
- https://www.aliexpress.us/item/3256806349193830.html
- https://www.aliexpress.us/item/3256805754205849.html
- https://www.aliexpress.us/item/3256807598986866.html
Mop
| Type | Cleaning Mechanism | Cleaning Quality | Complexity |
|---|---|---|---|
| Passive drag cloth | Wet cloth, no motor | Poor | Water tank, pump motor |
| Vibrating (VibraRise) | Vibration motor in chassis drives a metal prong. Mop bracket slides onto it and jiggles at 50 Hz. | Moderate – vibration isn’t enough for sticky residue | Needs 1 vibration motor |
| Dual rotary | Two pads spin in opposite directions under pressure. Mop lifts over carpet. | Good – real scrubbing | Needs 2 gearmotors + downforce, lift servo |
| Dual rotary + swing-out arm (FlexiArm) | Two pads spin in opposite directions under pressure. One pad extends out to clean under cabinet edges. | Good – real scrubbing + under cabinet edges | Needs 2 gearmotors + downforce; lift + swing servos |
| Roller mop | Continuous rotating roller, self-washing, like a mini floor-washer | Best, but not always | Needs continuous water + scraper + dirty-water path |
Roborock rotary mop
I’m going to skip Roborock’s legacy drag and vibrating (VibraRise) mop systems and go straight to Roborock rotary mops. Roborock started using rotary mops in P10 and Q Revo base models and upgraded to FlexiArm swing-out arm in other non-base P10 and Q Revo models.
I may be wrong, but Roborock to be using the same mop system (with FlexiArm) in a large number of models including Roborock P10 Pro, P10s, P10s Pure, P20 Pro, P20 Ultra, P20 Plus, Qrevo S5V, V20, Q Revo Edge, Q Revo Curv, Q Revo MaxV, Q Revo Slim, Q Revo S, Q Revo Master, Q Revo Pro, Saros 10R, Saros Z70, G30, G30U. This mop system also lifts and lowers mop disks when needed.
However, these FlexiArm mop motor assemblies are relatively expensive retail.
- https://www.aliexpress.us/item/3256812206297104.html
- https://www.aliexpress.us/item/3256810441544280.html
- https://www.aliexpress.us/item/3256812253448927.html
- https://www.aliexpress.us/item/3256812117235531.html
- https://www.aliexpress.us/item/3256812176238566.html
- https://www.aliexpress.us/item/3256812078276067.html
- https://www.aliexpress.us/item/3256812112414124.html
- https://www.aliexpress.us/item/3256812029381820.html
- https://www.aliexpress.us/item/3256812206297104.html
Here are FlexiArm mop disks. FlexiArm mop disk design differs from pre-FlexiArm mop disks.
- https://www.aliexpress.us/item/3256807230153059.html
- https://www.aliexpress.us/item/3256811960688780.html
- https://www.aliexpress.us/item/3256807230153059.html
- https://www.aliexpress.us/item/3256806780339533.html
- https://www.aliexpress.us/item/3256807240246341.html
Dreame rotary mops
Similar to Roborock’s FlexiArm, Dreame has a MopExtend rotary mop system featuring a swing-out mop arm to clean under kitchen cabinets.
Here is the Dreame’s fixed rotary mop system (pre-MopExtend) used in Dreame X10 Ultra, X10, X10 Pro, X10 Plus, L10 Prime, L10 Ultra, L10s Ultra, L10s Ultra SE, L10s Pro, L10 Prime, L20 Ultra.
- https://www.aliexpress.us/item/3256812318547968.html
- https://www.aliexpress.us/item/3256812310120268.html
- https://www.aliexpress.us/item/3256812311170090.html
- https://www.aliexpress.us/item/3256811864149380.html
- https://www.aliexpress.us/item/3256805731179127.html
- https://www.aliexpress.us/item/3256812073514323.html
- https://www.aliexpress.us/item/3256812493518762.html
Here is the Dreame MopExtend mop motor assembly used in Dreame L10s Pro Ultra, L10s Pro Ultra (Heat), L20 Ultra, L30 Ultra, X30 Ultra, X40 Pro Ultra, X40 Ultra, X40 Master, X40 Ultra Complete, X50 Ultra, X50 Ultra Complete, X50s Pro Ultra, X50 Master and Xiaomi Mijia M30 S, M40. Currently, MopExtend mop motor assemblies are quite expensive retail.
- https://www.amazon.com/DOWOPBNS-Assembly-Replacement-Compatible-Ultra_R2394/dp/B0F7XCFMSG
- https://www.aliexpress.us/item/3256810612487519.html
- https://www.aliexpress.us/item/3256809422105009.html
- https://www.aliexpress.us/item/3256809598607218.html
- https://www.aliexpress.us/item/3256811949011996.html
- https://www.aliexpress.us/item/3256810465173246.html
- https://www.aliexpress.us/item/3256809839890203.html
- https://www.aliexpress.us/item/3256810603629969.html
- https://www.aliexpress.us/item/3256812256466334.html
- https://www.aliexpress.us/item/3256812143558896.html
- https://www.aliexpress.us/item/3256811907304685.html
- https://www.aliexpress.us/item/3256812009601855.html
Here are Dreame MopExtend disks.
- https://www.aliexpress.us/item/3256811812954899.html
- https://www.aliexpress.us/item/3256812368978010.html
Obstacle Sensors
Vision-based real-time obstacle sensing, object recognition and avoidance has become a standard function for mid- and top-tier vacuum robot cleaners. Obstacle detecting vacuums (those without obstacle recognition) often use laser line projection. Premium vacuum models moved up from obstacle detection to recognition. As a ballpark reference, Roborock started using 2x OV5695 5M cameras with IR illumination for advanced obstacle recognition and avoidance in Roborock S6 MaxV back in Q2 2020.
I may be wrong with my assessment, but it appears that leading vacuum cleaner robot manufacturers have experimented over time with various vision-based sensing and have gravitated to using stereo cameras.
| Sensing Technology | Advantages | Disadvantages |
| Project a laser “sheet”/line | Low cost | Does not recognize obstacle type |
| Structured light 3D camera | Captures obstacle 3D shape | – Does not capture clues helpful for obstacle type recognition – color, texture, shading, high resolution – Tends to have a narrow-ish field of view; requires using 2-3 sensors to cover 120° horizontal FoV |
| Modulated ToF 3D camera | Captures obstacle 3D shape | – Does not capture clues helpful for obstacle type recognition – color, texture, shading, high resolution – Tends to have a narrow-ish field of view; requires using 2-3 sensors to cover 120° horizontal FoV – Dust can corrupt depth signal elsewhere in the image |
| Stereo camera with fixed frame shutter, NIR or RGB | Captures obstacle 3D shape, wide field-of-view, some texture, no shutter distortion, provides a video feed for human viewing | – Typically, lower resolution compared to rolling shutter cameras – Requires illumination (similar to 3D cameras) – May suffer from insufficient dynamic range – May require structured pattern illumination to sense depth on flat surfaces |
| Stereo multi-megapixel camera, rolling shutter, NIR or RGB | Captures obstacle 3D shape, wide field-of-view, texture, provides a video feed for human viewing | – Some distortion of fast-moving objects due to rolling shutter – Higher compute requirements – Requires illumination (similar to 3D cameras) – May suffer from insufficient dynamic range – May require structured pattern illumination to sense depth on flat surfaces |
| Miniature 3D SPAD modules with 8×8, 16×16 zones | Easy to integrate, low compute requirements | – May be susceptible to dust – Low resolution prevents object recognition – Tends to have a narrow-ish field of view; requires using 2-3 sensors to cover 120° horizontal FoV |
High-Resolution Stereo Cameras
With plenty image sensors available to choose from, OV5647 5MP camera modules stand out by being abundantly available at particularly low prices in retail in ≥120° fixed-focus “Night Vision” (on/off or no IR-cut filter) configurations.
Detecting obstacles in front of the vacuum robot requires a wide-angle lens. The lens should be fixed focus. All objects from zero distance onward have to be in focus. Distant objects don’t need to be in focus. Both stereo camera modules should have their exposure timing synchronized. The lens should be corrected for NIR, and the front sensing module should have NIR illumination sources, ideally projecting some sort of structured light pattern to sense depth on flat surfaces.
- https://www.aliexpress.us/item/3256804090191460.html
- https://www.aliexpress.us/item/3256806603685338.html
- https://www.aliexpress.us/item/3256804363265765.html
- https://www.aliexpress.us/item/3256807198256847.html
- https://www.aliexpress.us/item/3256804460154773.html
- https://www.aliexpress.us/item/3256804342147994.html
- https://www.aliexpress.us/item/3256805050901140.html
- https://www.aliexpress.us/item/3256804363265765.html
- https://www.aliexpress.us/item/3256808168713727.html
- https://www.aliexpress.us/item/3256810577976737.html
- https://www.aliexpress.us/item/3256809426316683.html
- https://www.aliexpress.us/item/3256812483529585.html
- https://www.aliexpress.us/item/3256808473916870.html
Charging Contacts
| Charging Contact Location | Vacuum Models |
|---|---|
| Front underside | Roborock S5, S6, S7, S8 |
| Rear | Roborock Saros 20, Qrevo Curv |
| Front (bumper) | Roborock S7 MaxV Ultra |
Old, pre-mop vacuum cleaners predominantly have charging contacts located on the underside, next to the swivel caster wheel and thus charge while facing the dock station. Vacuums with a mop typically have their charging contacts on the back – and, therefore, have to back into the docking station.
We can use nickel-plated steel strips for vacuum robot contacts and gold-coated spring-loaded pogo pins for the dock. The dock charging circuit will need to detect the vacuum’s presence before enabling the charging power supply to the robot – around 20.1V DC at 3-4A to meet the vacuum’s 65W power consumption to charge its battery simultaneously with Raspberry Pi 5 running.
Vacuum Cleaner Teardowns
Here is a collection of vacuum cleaner teardowns.
- Roborock S6 MaxV video video
- Roborock S6/T6 video
- Roborock S5/S6 Teardown
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