Robot Vacuum System Diagram

⚡ POWER SUPPLY

✓ Wall Supply

5V 2.5A micro-USB

Powers Pi at desk

✓ Anker Bank

10,000mAh USB-C

Portable battery for Pi

✓ LiPo Battery

11.1V 2200mAh

Powers fan + motors

✓ MOSFET

Electronic on/off

Pi controls vacuum

✓ Charger

Recharges LiPo

Off-robot accessory

✓ Fuse Holders

18 AWG · 5 pack

Short-circuit protection

✓ Buck Conv.

LM2596 · 11.1V→5V

Voltage step-down

🧠 BRAIN

✓ Pi Zero 2 W

Main computer + HAT

Runs all software

🛞 MOVEMENT

✓ Motor HAT

DC Motor Controller

I2C interface · wheel signals

✓ Left Motor

TT Motor + Wheel

Powered drive wheel

✓ Right Motor

TT Motor + Wheel

Powered drive wheel

✓ Caster

3/4" metal ball

Rear pivot wheel

📡 SENSORS & NAVIGATION

✓ RPLIDAR A1

360° spinning laser

Builds apartment map (SLAM)

✓ IR Sensors (x10)

IR proximity array

Cliff + obstacle detection

✓ LED Eyes (x3)

RGB status lights

Color = robot's mood

💻 SOFTWARE

HectorSLAM

Takes LiDAR data and builds real-time map of environment

LeRobot Nav

AI navigation: follow walls, turn corners, plan optimal paths

Motor Control

Sends speed commands to wheels and vacuum motor via I2C

🌀 VACUUM & AIRFLOW

✓ Vacuum Fan

12V centrifugal blower

9300 RPM · creates suction

? Dust Bin

Collection + filter

Tray still needed

? Y-Duct

Y-shaped tube

Splits suction to corners

? Side Brushes

Small motors + bristles

Sweep dust into inlets

? Left Inlet

Front corner intake

Collects side-swept dust

? Right Inlet

Front corner intake

Collects side-swept dust

🔩 CHASSIS & HARDWARE

? Panels

Acrylic 8"×8"

SendCutSend · white/black

? Screws & Standoffs

M3 hardware kit

Holds panels + mounts

✓ Resistors + Wire

Resistor kit + 22AWG

Electrical components

✓ Gasket Tape

Foam seal tape

Prevents air leaks

🔄 CONTROL & DATA FLOW

Power Distribution: LiPo battery splits power through a fuse and buck converter. The MOSFET acts as an electronic switch that the Pi controls to turn the vacuum fan on/off.

Navigation & SLAM: RPLIDAR spins 360° collecting distance measurements → HectorSLAM software builds a real-time map → LeRobot navigation AI decides movement strategy → Motor HAT sends PWM signals to left/right wheels.

Obstacle Avoidance: IR sensors detect cliffs and obstacles on the ground → Pi adjusts wheel speeds or triggers emergency stop to prevent falls and collisions.

🤖 Robot Vacuum System Diagram

🔄 CONTROL & DATA FLOW