Page 133 - Hacking Roomba
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114 Part I — Interfacing
Other Sensor Implementations
Figure 6-7 shows the internals of the Roomba. The two large silver boxes located right below
the vacuum brush motor are the dirt sensors. Inside each of those magic boxes is a dense analog
circuit that implements something similar to those capacitive touch sensors on table lamps.
The motor over-current sensor is presumably determined by a current sense somewhere in the
motor driver circuit.
FIGURE 6-6: Wheeldrop sensor, a microswitch
FIGURE 6-7: Roomba internals
