{"id":204,"date":"2026-07-06T20:01:51","date_gmt":"2026-07-06T12:01:51","guid":{"rendered":"http:\/\/www.tantan.ink\/index.php\/2026\/07\/06\/oomwoo-open-source-robot-vacuum-raspberry-pi-ros2-home-assistant\/"},"modified":"2026-07-09T19:30:34","modified_gmt":"2026-07-09T11:30:34","slug":"oomwoo-open-source-robot-vacuum-raspberry-pi-ros2-home-assistant","status":"publish","type":"post","link":"https:\/\/www.tantan.ink\/index.php\/2026\/07\/06\/oomwoo-open-source-robot-vacuum-raspberry-pi-ros2-home-assistant\/","title":{"rendered":"OOMWOO\uff1a\u6811\u8393\u6d3e\u81ea\u5df1\u9020\u626b\u5730\u673a\u5668\u4eba"},"content":{"rendered":"<p>\u626b\u5730\u673a\u5668\u4eba\u8fd9\u4e2a\u54c1\u7c7b\uff0c\u57fa\u672c\u88ab\u5c0f\u7c73\u3001\u77f3\u5934\u3001iRobot\u3001\u79d1\u6c83\u65af\u8fd9\u51e0\u5bb6\u5784\u65ad\u4e86\u3002\u4f60\u4e70\u7684\u4e0d\u662f\u4e00\u53f0\u673a\u5668\uff0c\u800c\u662f\u4e00\u4e2a\u9ed1\u76d2\u2014\u2014\u56fa\u4ef6\u9501\u6b7b\uff0c\u6570\u636e\u4e0a\u4e91\uff0c\u60f3\u6539\u70b9\u4e1c\u897f\u95e8\u90fd\u6ca1\u6709\u3002<\/p>\n<p>OOMWOO \u53cd\u7740\u5e72\uff1a<strong>\u786c\u4ef6\u3001\u8f6f\u4ef6\u3001\u56fa\u4ef6\u5168\u5f00\u6e90<\/strong>\uff0c\u4f60\u4ece\u96f6\u62fc\u51fa\u6765\uff0c\u8dd1 ROS2\uff0c\u63a5 Home Assistant\uff0c\u6570\u636e\u4e0d\u51fa\u5bb6\u95e8\u3002<\/p>\n<h2>OOMWOO \u662f\u4ec0\u4e48\uff1f<\/h2>\n<p>OOMWOO\uff08\u540d\u5b57\u662f\u4e2a\u65cb\u8f6c\u5bf9\u79f0\u8bcd\u2014\u2014\u5012\u8fc7\u6765\u8bfb\u4e5f\u4e00\u6837\uff0c\u5c31\u50cf\u673a\u5668\u4eba\u5728\u5730\u677f\u4e0a\u5230\u5904\u8f6c\uff09\u662f\u4e00\u4e2a<strong>\u4f60\u53ef\u4ee5\u81ea\u5df1\u9020\u7684\u5f00\u6e90\u5bb6\u7528\u626b\u5730\u673a\u5668\u4eba<\/strong>\u9879\u76ee\uff0c\u7531 Maker&#8217;s Pet \u7684 Ilia O. \u5728 2026 \u5e74 6 \u6708\u4e2d\u65ec\u53d1\u8d77\uff0c\u76ee\u524d\u5904\u4e8e\u65e9\u671f\u5f00\u53d1\u9636\u6bb5\u3002<\/p>\n<p>\u6838\u5fc3\u5356\u70b9\u4e00\u53e5\u8bdd\u603b\u7ed3\uff1a<\/p>\n<blockquote>\n<p>\u6811\u8393\u6d3e\u5f53\u5927\u8111\uff0c2D LiDAR \u5f53\u773c\u775b\uff0cROS2 + Nav2 \u5f53\u5bfc\u822a\u7cfb\u7edf\uff0cHome Assistant \u5f53\u9065\u63a7\u5668\uff0c\u5e95\u76d8 3D \u6253\u5370\uff0c\u6240\u6709\u4e1c\u897f\u5f00\u6e90\u3002<\/p>\n<\/blockquote>\n<p><img decoding=\"async\" src=\"https:\/\/www.tantan.ink\/wp-content\/uploads\/2026\/07\/vacuum_model_top.webp\" alt=\"OOMWOO \u53c2\u8003\u8bbe\u8ba1\u4fef\u89c6\u56fe\" \/><\/p>\n<p><em>\u53c2\u8003\u8bbe\u8ba1\u4fef\u89c6\u56fe\u2014\u2014\u5706\u5f62\u673a\u8eab\uff0c\u4e2d\u95f4\u662f LiDAR \u6fc0\u5149\u96f7\u8fbe\u5854\uff0c\u65c1\u8fb9\u662f\u5145\u7535\u5ea7<\/em><\/p>\n<h2>\u6280\u672f\u6808\u62c6\u89e3<\/h2>\n<h3>\u786c\u4ef6\u5c42<\/h3>\n<table>\n<thead>\n<tr>\n<th>\u7ec4\u4ef6<\/th>\n<th>\u9009\u578b<\/th>\n<th>\u5907\u6ce8<\/th>\n<\/tr>\n<\/thead>\n<tbody>\n<tr>\n<td>\u4e3b\u63a7\u5236\u5668<\/td>\n<td>Raspberry Pi 5<\/td>\n<td>\u6216 ESP32 \u8dd1 micro-ROS + \u672c\u5730 PC \u8dd1 ROS2\uff0c\u6700\u7ec8\u67b6\u6784\u5f85\u5b9a<\/td>\n<\/tr>\n<tr>\n<td>\u6fc0\u5149\u96f7\u8fbe<\/td>\n<td>\u7ecf\u6d4e\u578b 2D LiDAR<\/td>\n<td>\u7528\u4e8e SLAM \u5efa\u56fe\u548c\u81ea\u4e3b\u5bfc\u822a<\/td>\n<\/tr>\n<tr>\n<td>\u5e95\u76d8<\/td>\n<td>3D \u53ef\u6253\u5370<\/td>\n<td>\u5168\u90e8\u5f00\u6e90\u8bbe\u8ba1\u6587\u4ef6<\/td>\n<\/tr>\n<tr>\n<td>\u7535\u673a\u9a71\u52a8 PCB<\/td>\n<td>STM32<\/td>\n<td>\u539f\u7406\u56fe\u6b63\u5728\u57fa\u4e8e RK3562 \u53c2\u8003\u8bbe\u8ba1\u88c1\u526a<\/td>\n<\/tr>\n<tr>\n<td>\u7535\u6c60<\/td>\n<td>4S \u9502\u7535\u6c60<\/td>\n<td>\u4ece\u73b0\u6709\u53c2\u8003\u8bbe\u8ba1\u8fc1\u79fb\u800c\u6765<\/td>\n<\/tr>\n<tr>\n<td>\u5438\u5c18\u7535\u673a<\/td>\n<td>\u4e2d\u7b49\u529f\u7387\u5bc6\u5c01\u7535\u673a<\/td>\n<td>\u9879\u76ee\u8c03\u7814\u7ed3\u8bba\uff1a\u5438\u529b\u662f\u91c7\u8d2d\u95ee\u9898\u4e0d\u662f\u5de5\u7a0b\u95ee\u9898<\/td>\n<\/tr>\n<tr>\n<td>\u6eda\u5237<\/td>\n<td>\u9525\u5f62\u6a61\u80f6\u6eda\u5237<\/td>\n<td>\u6297\u6bdb\u53d1\u7f20\u7ed5\uff0c3D \u6253\u5370\u53cb\u597d<\/td>\n<\/tr>\n<tr>\n<td>\u62d6\u5730\u6a21\u5757<\/td>\n<td>\u53cc\u65cb\u8f6c\u62d6\u5730<\/td>\n<td>\u540c\u6837 3D \u6253\u5370<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n<h3>\u8f6f\u4ef6\u5c42<\/h3>\n<table>\n<thead>\n<tr>\n<th>\u5c42\u7ea7<\/th>\n<th>\u6280\u672f<\/th>\n<th>\u8bf4\u660e<\/th>\n<\/tr>\n<\/thead>\n<tbody>\n<tr>\n<td>\u64cd\u4f5c\u7cfb\u7edf<\/td>\n<td>Ubuntu<\/td>\n<td>\u8fd0\u884c\u5728\u6811\u8393\u6d3e\u4e0a<\/td>\n<\/tr>\n<tr>\n<td>\u673a\u5668\u4eba\u6846\u67b6<\/td>\n<td><strong>ROS 2<\/strong><\/td>\n<td>\u5de5\u4e1a\u7ea7\u673a\u5668\u4eba\u64cd\u4f5c\u7cfb\u7edf<\/td>\n<\/tr>\n<tr>\n<td>\u5bfc\u822a\u6808<\/td>\n<td>Nav2<\/td>\n<td>\u81ea\u4e3b\u8def\u5f84\u89c4\u5212\u4e0e\u5bfc\u822a<\/td>\n<\/tr>\n<tr>\n<td>\u5b9a\u4f4d<\/td>\n<td>AMCL<\/td>\n<td>\u81ea\u9002\u5e94\u8499\u7279\u5361\u6d1b\u5b9a\u4f4d<\/td>\n<\/tr>\n<tr>\n<td>\u4eff\u771f<\/td>\n<td>Gazebo<\/td>\n<td>\u65e0\u786c\u4ef6\u4e5f\u80fd\u5f00\u53d1\u548c\u6d4b\u8bd5<\/td>\n<\/tr>\n<tr>\n<td>LiDAR \u9a71\u52a8<\/td>\n<td>kaiaai\/LDS \/ lds2d<\/td>\n<td>\u652f\u6301 23+ \u6b3e\u6fc0\u5149\u96f7\u8fbe\u578b\u53f7<\/td>\n<\/tr>\n<tr>\n<td>\u56fa\u4ef6<\/td>\n<td>ESP32 \/ Arduino \/ micro-ROS<\/td>\n<td>\u5e95\u5c42\u63a7\u5236<\/td>\n<\/tr>\n<tr>\n<td>\u667a\u80fd\u5bb6\u5c45\u96c6\u6210<\/td>\n<td>Home Assistant<\/td>\n<td>\u539f\u751f\u672c\u5730\u5bf9\u63a5<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n<p>\u4ee3\u7801\u91c7\u7528 <strong>Apache License 2.0<\/strong> \u534f\u8bae\uff0c\u786c\u4ef6\u8bbe\u8ba1\u6587\u4ef6\u540e\u7eed\u4f1a\u91c7\u7528\u5f00\u6e90\u786c\u4ef6\u8bb8\u53ef\u8bc1\uff08TBD\uff09\u3002<\/p>\n<h2>\u4e3a\u4ec0\u4e48\u9700\u8981\u8fd9\u6837\u4e00\u4e2a\u9879\u76ee\uff1f<\/h2>\n<p>\u73b0\u5728\u7684\u5546\u7528\u626b\u5730\u673a\u5668\u4eba\u6709\u51e0\u4e2a\u8ba9\u4eba\u4e0d\u723d\u7684\u95ee\u9898\uff1a<\/p>\n<ol>\n<li><strong>\u4e91\u4f9d\u8d56<\/strong>\u3002\u5927\u90e8\u5206\u54c1\u724c\u8981\u6c42\u8054\u7f51\u624d\u80fd\u7528\u5168\u90e8\u529f\u80fd\uff0c\u65ad\u7f51\u53d8\u7816\u3002<\/li>\n<li><strong>\u56fa\u4ef6\u9501\u6b7b<\/strong>\u3002\u4f60\u60f3\u6539\u6e05\u626b\u7b56\u7565\uff1f\u6ca1\u63a5\u53e3\u3002\u60f3\u63a5\u5165 Home Assistant\uff1f\u5f97\u9760\u7b2c\u4e09\u65b9\u7834\u89e3\u9879\u76ee Valetudo\u3002<\/li>\n<li><strong>\u6570\u636e\u9690\u79c1<\/strong>\u3002\u4f60\u5bb6\u5730\u56fe\u3001\u6e05\u626b\u8bb0\u5f55\u3001\u8bed\u97f3\u6307\u4ee4\u5168\u5728\u5382\u5546\u670d\u52a1\u5668\u4e0a\u3002<\/li>\n<li><strong>\u65e0\u6cd5\u7ef4\u4fee\u5347\u7ea7<\/strong>\u3002\u574f\u4e86\u53ea\u80fd\u6362\u65b0\uff0c\u4e0d\u80fd\u81ea\u5df1\u4fee\u6216\u6539\u88c5\u3002<\/li>\n<\/ol>\n<p>OOMWOO \u7684\u601d\u8def\u5f88\u76f4\u63a5\u2014\u2014\u628a\u8fd9\u4e00\u5207\u53cd\u8fc7\u6765\uff1a<\/p>\n<blockquote>\n<p><strong>\u5e38\u89c4\u529f\u80fd\u6c38\u8fdc\u4e0d\u9700\u8981\u4e91\u7aef\uff0c\u672c\u5730\u8fd0\u884c\u3002\u56fa\u4ef6\u5f00\u653e\u53ef\u5ba1\u8ba1\uff0c\u6570\u636e\u4e0d\u51fa\u5bb6\u95e8\u3002<\/strong><\/p>\n<\/blockquote>\n<p>\u8fd9\u4e0d\u662f\u4e00\u4e2a\u73a9\u5177\u7ea7\u522b\u7684 demo\u3002\u9879\u76ee\u7684\u76ee\u6807\u662f\u8fbe\u5230<strong>\u5bb6\u7535\u54c1\u8d28<\/strong>\uff0c\u800c\u4e0d\u662f\u4e00\u4e2a&#8221;\u80fd\u8f6c\u5c31\u4e0d\u9519\u4e86&#8221;\u7684\u521b\u5ba2\u4f5c\u54c1\u3002<\/p>\n<p><img decoding=\"async\" src=\"https:\/\/www.tantan.ink\/wp-content\/uploads\/2026\/07\/vacuum_model_bottom.webp\" alt=\"OOMWOO \u53c2\u8003\u8bbe\u8ba1\u5e95\u90e8\u89c6\u56fe\" \/><\/p>\n<p><em>\u5e95\u90e8\u89c6\u56fe\u2014\u2014\u9a71\u52a8\u8f6e\u3001\u6eda\u5237\u3001\u4e07\u5411\u8f6e\u3001\u60ac\u5d16\u4f20\u611f\u5668\u4e00\u89c8<\/em><\/p>\n<h2>\u73b0\u5728\u80fd\u5e72\u4ec0\u4e48\uff1f<\/h2>\n<p>\u9879\u76ee\u8fd8\u5728\u65e9\u671f\uff0c\u4f46\u6709\u4e2a\u5f88\u806a\u660e\u7684\u505a\u6cd5\uff1a<strong>\u4e0d\u9700\u8981\u7b49\u786c\u4ef6\u5c31\u80fd\u5f00\u59cb\u73a9<\/strong>\u3002<\/p>\n<h3>\u7acb\u523b\u80fd\u505a\u7684\uff1aGazebo \u4eff\u771f<\/h3>\n<p>\u5f00\u53d1\u73af\u5883\u5df2\u7ecf\u5c31\u7eea\u3002\u88c5\u597d oomwoo-install \u4e4b\u540e\uff0c\u4f60\u53ef\u4ee5\u5728 Gazebo \u4eff\u771f\u5668\u91cc\u5f00\u8dd1 OOMWOO \u7684\u6570\u5b57\u5b6a\u751f\u4f53\u2014\u2014SLAM \u5efa\u56fe\u3001Nav2 \u5bfc\u822a\u3001\u624b\u52a8\u64cd\u63a7\uff0c15 \u5206\u949f\u5185\u641e\u5b9a\u3002\u4e0d\u9700\u8981\u4efb\u4f55\u786c\u4ef6\u3002<\/p>\n<pre><code class=\"language-bash\"># \u5b89\u88c5 ROS2 \u5f00\u53d1\u73af\u5883\uff08Ubuntu\uff09\ngit clone https:\/\/github.com\/makerspet\/oomwoo-install.git\ncd oomwoo-install &amp;&amp; .\/install.sh\n\n# \u542f\u52a8\u4eff\u771f\nros2 launch oomwoo_one simulation.launch.py\n<\/code><\/pre>\n<h3>\u5b9e\u673a\u9a8c\u8bc1\uff1a\u501f\u7528\u73b0\u6210\u626b\u5730\u673a<\/h3>\n<p>\u66f4\u7edd\u7684\u662f\uff0c\u4f5c\u8005\u5df2\u7ecf\u628a\u4e00\u53f0 <strong>\u6d66\u6851\u5c3c\u514b M6 Pro\uff08Proscenic M6 Pro\uff09<\/strong> \u63a5\u5165\u4e86 ROS2\uff0c\u4f5c\u4e3a&#8221;\u5360\u4f4d\u673a\u5668\u4eba&#8221;\u3002\u4e5f\u5c31\u662f\u8bf4\uff0c\u4f60\u53ef\u4ee5\u5728\u771f\u673a\u4e0a\u8dd1 OOMWOO \u7684\u6574\u5957\u5bfc\u822a\u548c\u5efa\u56fe\u8f6f\u4ef6\u6808\uff0c\u5b8c\u5168\u4e0d\u7528\u7b49 OOMWOO \u7684\u786c\u4ef6\u505a\u51fa\u6765\u3002<\/p>\n<p>\u8fd9\u5957&#8221;\u5148\u4eff\u771f\u3001\u540e\u5360\u4f4d\u5b9e\u673a\u3001\u518d\u8fc1\u79fb\u5230\u81ea\u5236\u786c\u4ef6&#8221;\u7684\u4e09\u9636\u6bb5\u7b56\u7565\uff0c\u8ba9\u8f6f\u4ef6\u5f00\u53d1\u548c\u786c\u4ef6\u91c7\u8d2d\u53ef\u4ee5\u5e76\u884c\u63a8\u8fdb\u3002<\/p>\n<h2>\u5f00\u53d1\u8fdb\u5ea6\u548c\u65f6\u95f4\u7ebf<\/h2>\n<p>\u5f53\u524d\u6574\u4f53\u72b6\u6001\uff1a<strong>\u6d3b\u8dc3\u5f00\u53d1\u4e2d<\/strong>\uff08\u622a\u81f3 2026 \u5e74 7 \u6708 6 \u65e5\uff0c132 \u6b21\u63d0\u4ea4\uff09\u3002<\/p>\n<table>\n<thead>\n<tr>\n<th>\u6a21\u5757<\/th>\n<th>\u72b6\u6001<\/th>\n<\/tr>\n<\/thead>\n<tbody>\n<tr>\n<td>URDF + Gazebo \u4eff\u771f<\/td>\n<td>\u8fdb\u884c\u4e2d<\/td>\n<\/tr>\n<tr>\n<td>3D \u6a21\u578b\uff08BOM \u96f6\u4ef6 STEP \u6587\u4ef6\uff09<\/td>\n<td>\u8fdb\u884c\u4e2d<\/td>\n<\/tr>\n<tr>\n<td>\u96f6\u4ef6\u89c4\u683c \/ \u6570\u636e\u8868<\/td>\n<td>\u8fdb\u884c\u4e2d<\/td>\n<\/tr>\n<tr>\n<td>I\/O + \u7535\u673a\u9a71\u52a8 PCB<\/td>\n<td>\u5f85\u542f\u52a8<\/td>\n<\/tr>\n<tr>\n<td>\u6e05\u626b + \u5efa\u56fe + \u63a2\u7d22<\/td>\n<td>\u5f85\u542f\u52a8<\/td>\n<\/tr>\n<tr>\n<td>\u5b9a\u4f4d\u4e0e\u5bfc\u822a<\/td>\n<td>\u5f85\u542f\u52a8<\/td>\n<\/tr>\n<tr>\n<td>\u5145\u7535\u575e\u5faa\u73af<\/td>\n<td>\u5f85\u542f\u52a8<\/td>\n<\/tr>\n<tr>\n<td>\u5730\u9762\u5904\u7406\u4e0e\u8fb9\u7f18\u6e05\u626b<\/td>\n<td>\u5f85\u542f\u52a8<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n<p>\u5173\u952e\u91cc\u7a0b\u7891\uff1a<\/p>\n<ul>\n<li><strong>~2026 \u5e74 7 \u6708\u4e2d<\/strong>\uff1a\u7b2c\u4e00\u7248 BOM\uff08\u7269\u6599\u6e05\u5355\uff09\u53d1\u5e03<\/li>\n<li><strong>~2026 \u5e74 8 \u6708\u5e95<\/strong>\uff1a\u5b8c\u6574\u5b9a\u4ef7\u7684\u6700\u7ec8 BOM<\/li>\n<li>\u4e4b\u540e\u624d\u4f1a\u9010\u6b65\u653e\u51fa 3D \u6253\u5370\u6587\u4ef6\u3001\u56fa\u4ef6\u3001PCB \u8bbe\u8ba1\u548c\u7ec4\u88c5\u6307\u5357<\/li>\n<\/ul>\n<h2>\u600e\u4e48\u53c2\u4e0e\uff1f<\/h2>\n<p>\u9879\u76ee\u91c7\u7528 RFC\uff08Request for Contribution\uff09\u6a21\u5757\u5316\u534f\u4f5c\u6a21\u5f0f\u3002\u6574\u4e2a\u673a\u5668\u4eba\u88ab\u62c6\u6210\u4e86\u5341\u51e0\u4e2a\u72ec\u7acb\u6a21\u5757\uff0c\u4f60\u53ef\u4ee5\u6311\u4efb\u4f55\u4e00\u4e2a\u611f\u5174\u8da3\u7684\u53c2\u4e0e\uff1a<\/p>\n<ul>\n<li><strong>urdf-gazebo-sim<\/strong> \u2014 \u4eff\u771f\u73af\u5883\u5b8c\u5584<\/li>\n<li><strong>clean-and-map<\/strong> \u2014 \u8fb9\u626b\u8fb9\u5efa\u56fe\u7b97\u6cd5<\/li>\n<li><strong>nav-localize<\/strong> \u2014 \u5df2\u77e5\u5730\u56fe\u4e0a\u7684\u5b9a\u4f4d\u4e0e\u5bfc\u822a<\/li>\n<li><strong>dock-cycle<\/strong> \u2014 \u5145\u7535\u575e\u81ea\u52a8\u56de\u5145<\/li>\n<li><strong>floor-care<\/strong> \u2014 \u8fb9\u6cbf\u6e05\u626b\u3001\u5730\u677f\u7c7b\u578b\u8bc6\u522b\u3001\u62d6\u5730\u5347\u964d<\/li>\n<li><strong>source-3d-models<\/strong> \u2014 \u4e3a\u91c7\u8d2d\u96f6\u4ef6\u5efa\u7acb STEP 3D \u6a21\u578b<\/li>\n<li><strong>io-pcb<\/strong> \u2014 \u7535\u673a\u9a71\u52a8\u548c\u4f20\u611f\u5668\u7535\u8def\u677f\u8bbe\u8ba1<\/li>\n<\/ul>\n<p>\u53bb GitHub \u63d0 Issue \u6216 PR \u5c31\u884c\uff0cDiscord \u793e\u533a\u4e5f\u968f\u65f6\u6b22\u8fce\u8ba8\u8bba\u3002<\/p>\n<p><img decoding=\"async\" src=\"https:\/\/www.tantan.ink\/wp-content\/uploads\/2026\/07\/vacuum-no-top-back.webp\" alt=\"OOMWOO \u5185\u90e8\u7ed3\u6784\u89c6\u56fe\" \/><\/p>\n<p><em>\u5185\u90e8\u7ed3\u6784\u89c6\u56fe\u2014\u2014LiDAR\u3001\u7535\u6c60\u7ec4\u3001I\/O \u677f\u3001\u5438\u5c18\u98ce\u6247\u90fd\u6e05\u6670\u53ef\u89c1<\/em><\/p>\n<h2>\u5766\u767d\u8bf4\uff1a\u6709\u4ec0\u4e48\u5751\uff1f<\/h2>\n<p>\u5199\u8fd9\u7bc7\u6587\u7ae0\u7684\u65f6\u5019\uff0c\u6211\u5fc5\u987b\u8bda\u5b9e\u5730\u8bf4\u2014\u2014OOMWOO \u76ee\u524d\u8fd8<strong>\u8fdc\u6ca1\u6709\u5230&#8221;\u4e70\u96f6\u4ef6\u5c31\u80fd\u9020&#8221;\u7684\u9636\u6bb5<\/strong>\u3002<\/p>\n<p><strong>\u73b0\u5b9e\u60c5\u51b5\uff1a<\/strong><\/p>\n<ul>\n<li>BOM \u8fd8\u6ca1\u5b9a\u7a3f\uff0c\u603b\u6210\u672c\u672a\u77e5\uff08\u867d\u7136\u76ee\u6807\u662f&#8221;\u7ecf\u6d4e\u5b9e\u60e0&#8221;\uff09<\/li>\n<li>3D \u6253\u5370\u6587\u4ef6\u8fd8\u6ca1\u653e\u51fa\u6765<\/li>\n<li>\u56fa\u4ef6\u548c PCB \u90fd\u8fd8\u5728\u8bbe\u8ba1\u4e2d<\/li>\n<li>v0 \u76ee\u6807\u662f\u6700\u7b80\u53ef\u7528\u7248\u672c\uff0c\u62d6\u5730\u3001\u89c6\u89c9\u907f\u969c\u8fd9\u4e9b\u529f\u80fd\u90fd\u662f\u540e\u671f\u76ee\u6807<\/li>\n<li>\u5982\u679c\u4f60\u4e0d\u4f1a ROS2\u3001\u6ca1\u7528\u8fc7 Linux\u3001\u6ca1\u78b0\u8fc7\u6811\u8393\u6d3e\uff0c\u5b66\u4e60\u66f2\u7ebf\u4e0d\u4f4e<\/li>\n<\/ul>\n<p><strong>\u9002\u5408\u7684\u4eba\u7fa4\uff1a<\/strong><\/p>\n<ul>\n<li>\u6709\u4e00\u5b9a Linux \u548c\u547d\u4ee4\u884c\u57fa\u7840<\/li>\n<li>\u5bf9 ROS2 \u6216\u673a\u5668\u4eba\u611f\u5174\u8da3\uff08\u6216\u8005\u613f\u610f\u5b66\uff09<\/li>\n<li>\u5bb6\u91cc\u6709 3D \u6253\u5370\u673a\uff08\u6216\u8005\u6709\u6e20\u9053\u6253\u5370\uff09<\/li>\n<li>\u4e0d\u6015\u6298\u817e\uff0c\u4eab\u53d7 &#8220;build in public&#8221; \u7684\u8fc7\u7a0b<\/li>\n<\/ul>\n<p>\u5982\u679c\u4f60\u53ea\u662f\u60f3\u8981\u4e00\u53f0\u80fd\u7528\u7684\u626b\u5730\u673a\u5668\u4eba\uff0c\u53bb\u4e70\u53f0\u77f3\u5934\u6216\u8005\u5c0f\u7c73\u66f4\u7701\u5fc3\u3002\u4f46\u5982\u679c\u4f60\u60f3\u641e\u6e05\u695a\u8fd9\u4e1c\u897f\u5230\u5e95\u600e\u4e48\u5de5\u4f5c\u3001\u60f3\u81ea\u5df1\u638c\u63a7\u6bcf\u4e00\u4e2a\u5b57\u8282\u2014\u2014OOMWOO \u53ef\u80fd\u662f\u76ee\u524d\u6700\u503c\u5f97\u5173\u6ce8\u7684\u8d77\u70b9\u3002<\/p>\n<h2>\u76f8\u5173\u9879\u76ee\u5bf9\u6bd4<\/h2>\n<table>\n<thead>\n<tr>\n<th>\u9879\u76ee<\/th>\n<th>\u7c7b\u578b<\/th>\n<th>\u7279\u70b9<\/th>\n<\/tr>\n<\/thead>\n<tbody>\n<tr>\n<td><strong>OOMWOO<\/strong><\/td>\n<td>\u5168\u5f00\u6e90\u81ea\u9020<\/td>\n<td>\u786c\u4ef6+\u8f6f\u4ef6+\u56fa\u4ef6\u5168\u5f00\u6e90\uff0cROS2\uff0cHA \u539f\u751f\u96c6\u6210<\/td>\n<\/tr>\n<tr>\n<td><a href=\"https:\/\/github.com\/Hypfer\/Valetudo\">Valetudo<\/a><\/td>\n<td>\u56fa\u4ef6\u66ff\u6362<\/td>\n<td>\u66ff\u6362\u5546\u7528\u626b\u5730\u673a\u7684\u4e91\u7aef\u56fa\u4ef6\uff0c\u5b9e\u73b0\u672c\u5730\u63a7\u5236\uff0c\u4f46\u4e0d\u6539\u786c\u4ef6<\/td>\n<\/tr>\n<tr>\n<td><a href=\"https:\/\/github.com\/codetiger\/VacuumTiger\">VacuumTiger<\/a><\/td>\n<td>\u4f4e\u5c42\u9006\u5411<\/td>\n<td>\u79d1\u6c83\u65af\u673a\u578b\u5e95\u5c42\u63a7\u5236\u9006\u5411\u5de5\u7a0b<\/td>\n<\/tr>\n<tr>\n<td>Open Mower<\/td>\n<td>\u5f00\u6e90\u5272\u8349\u673a<\/td>\n<td>\u540c\u4e00\u7cbe\u795e\u5185\u6838\u2014\u2014\u5f00\u6e90\u6237\u5916\u5272\u8349\u673a\u5668\u4eba\uff0c\u5df2\u53ef\u5b9e\u9645\u4f7f\u7528<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n<p>Valetudo \u662f\u76ee\u524d\u5728\u81ea\u6258\u7ba1\u793e\u533a\u6700\u6d41\u884c\u7684\u65b9\u6848\u2014\u2014\u5b83\u8ba9\u4f60\u5728\u4e0d\u6362\u786c\u4ef6\u7684\u60c5\u51b5\u4e0b\u6446\u8131\u4e91\u4f9d\u8d56\u3002\u4f46 OOMWOO \u66f4\u5f7b\u5e95\uff1a\u8fde\u786c\u4ef6\u90fd\u7531\u4f60\u81ea\u5df1\u51b3\u5b9a\u3002<\/p>\n<h2>\u6211\u7684\u770b\u6cd5<\/h2>\n<p>OOMWOO \u8ba9\u6211\u60f3\u8d77\u4e86\u65e9\u671f\u7684\u5f00\u6e90\u8def\u7531\u5668\u8fd0\u52a8\uff08OpenWrt\uff09\u548c NAS \u81ea\u6258\u7ba1\u6d6a\u6f6e\u3002\u6bcf\u4e00\u6b21\uff0c\u90fd\u662f\u4ece&#8221;\u5382\u5546\u9501\u6b7b\u4e86\uff0c\u6211\u81ea\u5df1\u6765&#8221;\u5f00\u59cb\u7684\u3002<\/p>\n<p>\u73b0\u5728\u8f6e\u5230\u626b\u5730\u673a\u5668\u4eba\u4e86\u3002<\/p>\n<p>\u9879\u76ee\u5730\u5740\uff1a<a href=\"https:\/\/github.com\/makerspet\/oomwoo\">https:\/\/github.com\/makerspet\/oomwoo<\/a><br \/>\n\u5b98\u7f51\uff1a<a href=\"https:\/\/oomwoo.com\/\">https:\/\/oomwoo.com\/<\/a><br \/>\n\u6784\u5efa\u6559\u7a0b\u535a\u5ba2\uff1a<a href=\"https:\/\/makerspet.com\">https:\/\/makerspet.com<\/a><\/p>\n<hr \/>\n<p><em>\u672c\u6587\u57fa\u4e8e OOMWOO GitHub \u4ed3\u5e93\uff082026\u5e747\u67086\u65e5\uff09\u3001\u5b98\u65b9\u535a\u5ba2\u548c Self-Host Weekly \u4fe1\u606f\u6574\u7406\u3002\u9879\u76ee\u5904\u4e8e\u65e9\u671f\u5f00\u53d1\u9636\u6bb5\uff0c\u5177\u4f53\u53c2\u6570\u4ee5\u5b98\u65b9\u6700\u65b0\u66f4\u65b0\u4e3a\u51c6\u3002<\/em><\/p>\n","protected":false},"excerpt":{"rendered":"<p>\u626b\u5730\u673a\u5668\u4eba\u8fd9\u4e2a\u54c1\u7c7b\uff0c\u57fa\u672c\u88ab\u5c0f\u7c73\u3001\u77f3\u5934\u3001iRobot\u3001\u79d1\u6c83\u65af\u8fd9\u51e0\u5bb6\u5784\u65ad\u4e86\u3002\u4f60\u4e70\u7684\u4e0d\u662f\u4e00\u53f0\u673a\u5668\uff0c\u800c\u662f\u4e00\u4e2a\u9ed1\u76d2\u2014\u2014\u56fa &#8230; <a title=\"OOMWOO\uff1a\u6811\u8393\u6d3e\u81ea\u5df1\u9020\u626b\u5730\u673a\u5668\u4eba\" class=\"read-more\" href=\"https:\/\/www.tantan.ink\/index.php\/2026\/07\/06\/oomwoo-open-source-robot-vacuum-raspberry-pi-ros2-home-assistant\/\" aria-label=\"\u9605\u8bfb OOMWOO\uff1a\u6811\u8393\u6d3e\u81ea\u5df1\u9020\u626b\u5730\u673a\u5668\u4eba\">\u9605\u8bfb\u66f4\u591a<\/a><\/p>\n","protected":false},"author":2,"featured_media":207,"comment_status":"open","ping_status":"open","sticky":false,"template":"","format":"standard","meta":{"footnotes":""},"categories":[9],"tags":[144,141,109,142,143,137,139,140,41,138,110,145,16],"class_list":["post-204","post","type-post","status-publish","format-standard","has-post-thumbnail","hentry","category-hardware","tag-3d","tag-diy","tag-home-assistant","tag-lidar","tag-nav2","tag-oomwoo","tag-raspberry-pi","tag-ros2","tag-41","tag-138","tag-110","tag-145","tag-16"],"_links":{"self":[{"href":"https:\/\/www.tantan.ink\/index.php\/wp-json\/wp\/v2\/posts\/204","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/www.tantan.ink\/index.php\/wp-json\/wp\/v2\/posts"}],"about":[{"href":"https:\/\/www.tantan.ink\/index.php\/wp-json\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"https:\/\/www.tantan.ink\/index.php\/wp-json\/wp\/v2\/users\/2"}],"replies":[{"embeddable":true,"href":"https:\/\/www.tantan.ink\/index.php\/wp-json\/wp\/v2\/comments?post=204"}],"version-history":[{"count":1,"href":"https:\/\/www.tantan.ink\/index.php\/wp-json\/wp\/v2\/posts\/204\/revisions"}],"predecessor-version":[{"id":292,"href":"https:\/\/www.tantan.ink\/index.php\/wp-json\/wp\/v2\/posts\/204\/revisions\/292"}],"wp:featuredmedia":[{"embeddable":true,"href":"https:\/\/www.tantan.ink\/index.php\/wp-json\/wp\/v2\/media\/207"}],"wp:attachment":[{"href":"https:\/\/www.tantan.ink\/index.php\/wp-json\/wp\/v2\/media?parent=204"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/www.tantan.ink\/index.php\/wp-json\/wp\/v2\/categories?post=204"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/www.tantan.ink\/index.php\/wp-json\/wp\/v2\/tags?post=204"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}