Yeah, I would as well. Found it hard to find something that was guaranteed to work with 12V, hass AND have the interlocking.
Also, nobody mentioned this before, and if you just click the links above which have worked just fine before, you might have the same issues 
The solution Iâve used previously for other projects is a 12V power supply, then a buck converter to get 5V for the ESP. The ESP can be anything from a basic ESP8266, Wemos D1 Mini (8266 anyway), ESP32 etc. Connect the ESP to a relay board and do the interlocking in hardware for guaranteed safety.
This is how you wire relays for hardware interlocking. Outputs connect to 1, 2 and 3 and no two will ever be energised at the same time.
This is what I used. You should be able to get one locally or a cheap version from China. I paid the extra for a local one to not have to wait for shipping.
My install post is here.
To hardware interlock 4 relays use the below wiring. This way no 2 relays can output at the same time.
Great job!
Thak you! Really appreciate it
I have a spare shelly 2.5 and was looking at doing something similar, noticed your comment on going 12v for actuator is there a lot of difference noise wise between 24/12 ?
wondering if i should get 12v actuator and use a stepdown converter to 12v on outputs.
Using a shelly is a great idea. I would probably use it in the future for such projects.
You can get a 24v actuator, just make sure it has a force of around 100N. Somenthing more powerfull is extremly noisy and slow.
If you canât find a 24V actuator with a force of 100N, buy a 12V and use a step-down.
Ah that makes sense the gearbox in the lower speed models would be noisier.
The same seller you linked for actuator does a 24v model now in 100N, ill give them a try
Thanks again for the inspiration.
Can you share the wire diagram when connecting the shelly 2.5 with a step-down into the actuator ? I guess your using the âroller shutterâ options right ?
Congratz! This is some clean work!
Itâs amazing to me that after 2 years this is still getting attention :))
Great job!
Let me start with a big âThank you!â to @smowk: Great guide! I have made this vacuum door as well based on your description, with some changes:
Made a wooden frame to which the kitchen cover, hinge and motor are mounted to. This eases the assembly of everything. This wooden frame, with everything connected to it, just slides underneath the kitchen cabinet
Added a light sensor to the relay board, just a simple light sensor for an arduino. As relay board I used this, which has some additional GPIO pins for the light sensor.This light sensor is taped on top of the dock of the robot vacuum. The light on the dock is on when the vacuum is driving around and off when it is docked. I use this sensor to open the vacuum door in case it is not controlled by a script in home assistant.
I use a 3D printed hinge with magnets to assemble the motor to the door. I found that simple velcro did not do the trick for me as it was not strong enough; the weight of the door when opened actually caused the motor bracket to act as a hinge and tear of the velcro, up to the point that the door was not opened enough for the vacuum to pass through. Therefore I designed my own hinge which would open when there is something stuck under the door. See video, where I actually had my hand holding the phone under the door. In case somebody would like to have the STL files to print this yourself, I could post it on thingiverse. Let me know if there is interest?
I used ESPhome as basis for programming the relay board. For code see below
---
esphome:
name: vacuum_gate
platform: ESP8266
board: esp12e
# WiFi connection, correct these
# with values for your WiFi.
wifi:
ssid: !secret wifi_ssid
password: !secret wifi_password
# Enable logging.
logger:
# Enable Home Assistant API.
api:
# Enable over-the-air updates.
ota:
# Enable Web server.
web_server:
port: 80
# Sync time with Home Assistant.
time:
- platform: homeassistant
id: homeassistant_time
# Text sensors with general information.
text_sensor:
# Expose ESPHome version as sensor.
- platform: version
name: Vacuum Gate ESPHome Version
# Expose WiFi information as sensors.
- platform: wifi_info
ip_address:
name: Vacuum Gate IP
ssid:
name: Vacuum Gate SSID
bssid:
name: Vacuum Gate BSSID
# Sensors with general information.
sensor:
# Uptime sensor.
- platform: uptime
name: Vacuum Gate Uptime
# WiFi Signal sensor.
- platform: wifi_signal
name: Vacuum Gate WiFi Signal
update_interval: 60s
# Exposed switches.
switch:
# Switch to restart the Vacuum Gate.
- platform: restart
name: Vacuum Gate Restart
# Relays
- platform: gpio
id: open_cover #relay 1
inverted: false
name: Vacuum Gate relay 1
internal: true
pin: GPIO5
interlock: &interlock [open_cover, close_cover]
restore_mode: always off
- platform: gpio
id: close_cover #relay 2
inverted: false
name: Vacuum Gate relay 2
internal: true
pin: GPIO4
interlock: *interlock
restore_mode: always off
cover:
- platform: time_based
name: "Vacuum Cover"
id: my_cover
device_class: shutter
open_action:
- switch.turn_on: open_cover
open_duration: 3s
close_action:
- switch.turn_on: close_cover
close_duration: 3s
stop_action:
- switch.turn_off: open_cover
- switch.turn_off: close_cover
binary_sensor:
- platform: gpio
id: charger_led
name: Charger LED state
device_class: light
pin:
# Connected to GPIO16
number: GPIO16
inverted: true
mode:
input: true
pullup: false
pulldown: false
filters:
# Small filter, to debounce.
- delayed_on: 25ms
- delayed_off: 25ms
on_press:
then:
- cover.open: my_cover
I actually also have some questions for @smowk;
I know this has been a little bit since this post, however, you seem to be the latest crack at this, would you mind sending your parts list? Or even better a full step by step!
So funny I posted on this a few hours after you and didnt see your post. I am looking to start this build and it will be my first go at something like this. Any step by step, parts list or instructions would be greatly appreciated!!
Hello @BdeBresser, congratz on your build! Itâs amazing to me that this post is still getting attention :)\
Great modification with the 3D printed hinges, your âvacuum doorâ is definitely too big/heavy for my velcro solution.
To answer your questions:
âvacuum_send_commandâ is an independent Python script documented under " python_scripts/vacuum_send_command.py" used to send the cleaning command to the vacuum (including the parameters set via the interface: rooms, area, speed, etc.). Basically, I create a set of instructions for the vacuum in the interface and send those to the vacuum with this script.
To actually call this Python script named âpython_script.vacuum_send_commandâ I have created a HomeAssistant script named âvacuum_send_commandâ documented under " scripts.yaml" as â# ---------- VACDOOR PYTHON CONTROLLERâ and as you can see, in this HomeAssistant script there are 2 sequences:
# ---------- VACDOOR PYTHON CONTROLLER
vacuum_send_command:
sequence:
- service: script.vacdoor_open
- service: python_script.vacuum_send_command
The first service (âscript.vacdoor_openâ) is in charge of opening the door by sending a MQTT command to the relay in charge of controlling the actuator and the second script is the cleaning command discussed above, sent to the vacuum itself (with the cleaning parameters).
Therefore, the Homeassistant script âvacuum_send_commandâ is calling 2 services/scripts in series, one to the door opening mechanism and the second to the vacuum itself so I can send all the necessary commands with a single press of a button.
This script is what is called by pressing the âSTARTâ button from the Custom card Lovelace Xiaomi Vacuum Map card
YAML Config for the Vacuum Controller:
###################################################################################################################################################################################################################
##### ROBOROCK #####
###################################################################################################################################################################################################################
# Lovelace / scripts / sensor
- name: RoboRock
path: vacuum
icon: mdi:robot-vacuum
cards:
- type: vertical-stack
cards:
- type: glance # VACUUM QUICK CONTROLLER
show_name: false
show_state: false
columns: 6
entities:
- entity: script.vacuum_start # START :: Clean everywhere
tap_action:
action: toggle
- entity: script.vacuum_stop # STOP :: Stops current task and the vacuum at current position
tap_action:
action: toggle
- entity: script.vacuum_pause # PAUSE :: Pauses current task and the vacuum at current position
tap_action:
action: toggle
- entity: script.vacuum_dock # DOCK :: ET go home
tap_action:
action: toggle
# - script.vacuum_spot
- entity: script.vacuum_locate # HELLO :: Hello Vacuum!
tap_action:
action: toggle
double_tap_action:
action: call-service
service: input_boolean.toggle
service_data:
entity_id: input_boolean.vacuum_info
- entity: input_boolean.vacuum_advanced # MAP :: Activates the manual control - MAP CUSTOM CARD
tap_action:
action: toggle
- type: conditional # ADVANCED CONTROLLER :: MAP :: CUSTOM CARD
conditions:
- entity: input_boolean.vacuum_advanced
state: "on"
card:
type: custom:xiaomi-vacuum-map-card
entity: vacuum.roborock
map_image: '/local/custom-lovelace/xiaomi_vacuum_map_card/ARK_MAP.png?v=3'
default_mode: zoned_cleanup
service: script.vacuum_send_command
calibration_points: # VACUUM CALIBRATION COORDONATES
- vacuum:
x: 23550
y: 24900
map:
x: 253
y: 148
- vacuum:
x: 21800
y: 22600
map:
x: 113
y: 332
- vacuum:
x: 26350
y: 22600
map:
x: 481
y: 332
zones: # AREA COORDONATES: Also mentioned in script:roborock.yaml
- [[25224,25100,28300,25430,1]] #Cooking
- [[25224,22599,28300,25430,1]] #Kitchen
- [[22270,22599,25242,25430,1]] #Couch
- [[20764,22599,22270,24500,1]] #Entrance
- [[25860,18626,28270,22450,1]] #Office
- [[22570,18626,25820,22450,1]] #Bedroom
- [[20764,20910,22527,22450,1]] #Shower
- [[20750,18626,22510,20825,1]] #Bathroom
- type: conditional # ZONE CONTROLLER
conditions:
- entity: input_boolean.vacuum_advanced # Condotional Entity Display: MAP
state: "off"
card:
type: vertical-stack
cards:
- type: glance
show_name: true
show_state: false
columns: 4
entities:
- entity: script.vacuum_living # Living
tap_action:
action: toggle
- entity: script.vacuum_kitchen # Kitchen
tap_action:
action: toggle
- entity: script.vacuum_couch # Couch
tap_action:
action: toggle
- entity: script.vacuum_entrance # Entrance
tap_action:
action: toggle
- entity: script.vacuum_bedroom # Bedroom
tap_action:
action: toggle
- entity: script.vacuum_office # Office
tap_action:
action: toggle
- entity: script.vacuum_bathroom # Bathroom
tap_action:
action: toggle
- entity: script.vacuum_shower # Shower
tap_action:
action: toggle
- type: conditional # INFO Pannel :: SENSORS / POWER SETTINGS
conditions:
- entity: input_boolean.vacuum_info
state: "on"
card:
type: vertical-stack # VACUUM SENSORS
cards:
- type: glance
show_name: true
show_state: true
entities:
- sensor.vacuum_battery_level
- entity: sensor.vacuum_fan_speed # Noise level
tap_action:
action: call-service
service: input_boolean.toggle
service_data:
entity_id: input_boolean.vacuum_power_selector
- sensor.vacuum_status # Status
- sensor.vacuum_state # State
- entity: sensor.vacuum_operation # MAINTENANCE
tap_action:
action: call-service
service: input_boolean.toggle
service_data:
entity_id: input_boolean.vacuum_maintenance
- type: conditional # POWER SELECTOR MENU
conditions:
- entity: input_boolean.vacuum_power_selector # [ Hidden behind POWER Button / Behind INFO Pannel ]
state: "on"
card:
type: glance
show_name: false
show_state: false
columns: 5
entities:
- entity: script.vacuum_power_gentle # Moping
tap_action:
action: call-service
service: script.toggle
service_data:
entity_id: script.vacuum_power_gentle
- entity: script.vacuum_power_quiet # Quiet
tap_action:
action: call-service
service: script.toggle
service_data:
entity_id: script.vacuum_power_quiet
- entity: script.vacuum_power_balanced # Balanced
tap_action:
action: call-service
service: script.toggle
service_data:
entity_id: script.vacuum_power_balanced
- entity: script.vacuum_power_turbo # Turbo
tap_action:
action: call-service
service: script.toggle
service_data:
entity_id: script.vacuum_power_turbo
- entity: script.vacuum_power_max # Maximum
tap_action:
action: call-service
service: script.toggle
service_data:
entity_id: script.vacuum_power_max
- type: conditional # MAINTENANCE SENSORS
conditions:
- entity: input_boolean.vacuum_maintenance
state: "on"
card:
type: entities
entities:
- sensor.vacuum_main_brush
- sensor.vacuum_side_brush
- sensor.vacuum_filter
- sensor.vacuum_sensors
To keep the interface clean, and have things out of sight, but without having to compromise on utility/relevant information or options regarding the vacuum, most settings are hidden behind input_boolean used as buttons to reveal selected sections; those are my âbuttonsâ
boolean.yaml
# ________________________________________________________________________________ BOOLEAN
# ROBOROCK VACUUM
vacuum_advanced:
name: MAP
initial: off
vacuum_power_selector:
name: POWER
initial: off
vacuum_maintenance:
name: OPERATION
initial: off
vacuum_info:
name: VacuumHi
initial: off
some quick actions for the vacuum are defined as scrips uder
scripts.yaml
# ________________________________________________________________________________ VACUUM _____________________________________________________________________________
# ---------- VACUUM DOOR
vacdoor_open:
alias: OPEN
sequence:
- service: mqtt.publish
data:
topic: cmnd/VACDOOR_RF/POWER1
payload: ON
vacdoor_close:
alias: CLOSE
sequence:
- service: mqtt.publish
data:
topic: cmnd/VACDOOR_RF/POWER2
payload: ON
# ---------- VACDOOR PYTHON CONTROLLER
vacuum_send_command:
sequence:
- service: script.vacdoor_open
- service: python_script.vacuum_send_command
data_template:
entity_id: "{{ entity_id }}"
command: "{{ command }}"
params: "{{ params }}"
# ---------- QUICK MENU
# Say HELLO, find the vacuum
vacuum_locate:
alias: Hello
sequence:
- service: vacuum.locate
entity_id: vacuum.roborock
# Start the cleaning of the house
vacuum_start:
alias: START
sequence:
- service: script.vacdoor_open
- service: vacuum.start
entity_id: vacuum.roborock
# Stop the vacuum task; doesn't return to dock
vacuum_stop:
alias: STOP
sequence:
- service: vacuum.stop
entity_id: vacuum.roborock
# Pause the current task
vacuum_pause:
alias: Pause
sequence:
- service: vacuum.pause
entity_id: vacuum.roborock
# Return to dock
vacuum_dock:
alias: Dock
sequence:
- service: vacuum.return_to_base
entity_id: vacuum.roborock
# # Clean around current position
# vacuum_spot:
# alias: Spot
# sequence:
# - service: vacuum.clean_spot
# entity_id: vacuum.roborock
# ---------- AERAS
# Clean up AREA: LIVING
vacuum_living:
alias: Living
sequence:
- service: script.vacdoor_open
- service: vacuum.send_command
data:
entity_id: vacuum.roborock
command: app_zoned_clean
params: [[20764,22599,28300,25430,1]]
# Clean up AREA: COOKING
vacuum_kitchen:
alias: Kitchen
sequence:
- service: script.vacdoor_open
- service: vacuum.send_command
data:
entity_id: vacuum.roborock
command: app_zoned_clean
params: [[25224,25100,28300,25430,1]]
# Clean up AREA: KITCHEN
vacuum_kitchen:
alias: Kitchen
sequence:
- service: script.vacdoor_open
- service: vacuum.send_command
data:
entity_id: vacuum.roborock
command: app_zoned_clean
params: [[25224,22599,28300,25430,1]]
# Clean up AREA: COUCH
vacuum_couch:
alias: Couch
sequence:
- service: script.vacdoor_open
- service: vacuum.send_command
data:
entity_id: vacuum.roborock
command: app_zoned_clean
params: [[22270,22599,25242,25430,1]]
# Clean up AREA: ENTRANCE
vacuum_entrance:
alias: Entrance
sequence:
- service: script.vacdoor_open
- service: vacuum.send_command
data:
entity_id: vacuum.roborock
command: app_zoned_clean
params: [[20764,22599,22270,24500,1]]
# Clean up AREA: BEDROOM
vacuum_bedroom:
alias: Bedroom
sequence:
- service: script.vacdoor_open
- service: vacuum.send_command
data:
entity_id: vacuum.roborock
command: app_zoned_clean
params: [[22570,18626,25820,22450,1]]
# Clean up AREA: OFFICE
vacuum_office:
alias: Office
sequence:
- service: script.vacdoor_open
- service: vacuum.send_command
data:
entity_id: vacuum.roborock
command: app_zoned_clean
params: [[25860,18626,28270,22450,1]]
# Clean up AREA: BATHROOM
vacuum_bathroom:
alias: Bathroom
sequence:
- service: script.vacdoor_open
- service: vacuum.send_command
data:
entity_id: vacuum.roborock
command: app_zoned_clean
params: [[20750,18626,22510,20825,1]]
# Clean up AREA: SHOWER
vacuum_shower:
alias: Shower
sequence:
- service: script.vacdoor_open
- service: vacuum.send_command
data:
entity_id: vacuum.roborock
command: app_zoned_clean
params: [[20764,20910,22527,22450,1]]
# ---------- POWER
# Set vacuum POWER: Quiet
vacuum_power_quiet:
alias: Quiet
sequence:
- service: vacuum.set_fan_speed
data:
entity_id: vacuum.roborock
fan_speed: Quiet
# Set vacuum POWER: Balanced
vacuum_power_balanced:
alias: Balanced
sequence:
- service: vacuum.set_fan_speed
data:
entity_id: vacuum.roborock
fan_speed: Balanced
# Set vacuum POWER: Turbo
vacuum_power_turbo:
alias: Turbo
sequence:
- service: vacuum.set_fan_speed
data:
entity_id: vacuum.roborock
fan_speed: Turbo
# Set vacuum POWER: Max
vacuum_power_max:
alias: Max
sequence:
- service: vacuum.set_fan_speed
data:
entity_id: vacuum.roborock
fan_speed: Max
# Set vacuum POWER: Gentle
vacuum_power_gentle:
alias: Gentle
sequence:
- service: vacuum.set_fan_speed
data:
entity_id: vacuum.roborock
fan_speed: Gentle
other potentially relevant information comes from sensors under
sensor.yaml
###################################################################################################################################################################################################################
##### APPLIANCES #####
###################################################################################################################################################################################################################
# ________________________________________________________________________________ VACUUM
# ---------- ROBOROCK
- platform: template
sensors:
# VACUUM STATE
vacuum_state:
friendly_name: "STATE"
value_template: >-
{{ states.vacuum.roborock.state }}
# VACUUM STATUS
vacuum_status:
friendly_name: "STATUS"
value_template: >-
{{ states.vacuum.roborock.attributes.status }}
# VACUUM BATTERY LEVEL
vacuum_battery_level:
friendly_name: "BATTERY"
value_template: >-
{{ states.vacuum.roborock.attributes.battery_level }}
icon_template: >-
{{ states.vacuum.roborock.attributes.battery_icon }}
# VACUUM POWER
vacuum_fan_speed:
friendly_name: "POWER"
value_template: >-
{{ states.vacuum.roborock.attributes.fan_speed }}
# VACUUM MAIN BRUSH
vacuum_main_brush:
friendly_name: "Main Brush"
value_template: >-
{{ states.vacuum.roborock.attributes.main_brush_left }}
# VACUUM SIDE BRUSH
vacuum_side_brush:
friendly_name: "Side Brush"
value_template: >-
{{ states.vacuum.roborock.attributes.side_brush_left }}
# VACUUM FILTER
vacuum_filter:
friendly_name: "Filter"
value_template: >-
{{ states.vacuum.roborock.attributes.filter_left }}
# VACUUM GUIDANCE SENSORS
vacuum_sensors:
friendly_name: "Sensors"
value_template: >-
{{ states.vacuum.roborock.attributes.sensor_dirty_left }}
# VACUUM MAINTENANCE SENSORS
vacuum_operation:
friendly_name: "OPERATION"
value_template: >-
{% if (states.vacuum.roborock.attributes.main_brush_left|int > 24) and (states.vacuum.roborock.attributes.side_brush_left|int > 24) and (states.vacuum.roborock.attributes.filter_left|int > 24) and (states.vacuum.roborock.attributes.sensor_dirty_left|int > 24) %}
OK
{% else %}
Dirty
{% endif %}
and the map itself that is located in \www\custom-lovelace\xiaomi_vacuum_map_card was made in Photoshop by overlapping my floorplan design over the map extracted from the Xiaomi app, just to make sure all the proportions will fit perfectly and i have millimeter-level accuracy when i want to send the vacuum to a certain locaton via the interface.
Hope this helps. Have fun!
Hello Nico, this implementation works perfectly, with nothing changed or modified in 2 years, since I originally made it.
The parts from Aliexpress might not be still available fom those particular links, but you can search by using the technical specs mentioned.
From my experiments (some documented in the post) i have decided the optimal solution for an actuator is 100N force, at 100mm stroke, mainly regarding speed and noise aspects.
For example, Linear Actuator ( 100N | 100mm stroke | 60mm/s )
As a power supply, you can use any 12V DC Output with AC Input, but the one in the link is still available.
And for the controller, the one used by @BdeBresser in his implementation should work perfectly.
You can create an better implementation by using a Shelly as a controller, with any power supply you like.
Hello. Here is my roborock vacuum door automation in node red. It opens door only when previous roborock state is docked and it close door after 35 sec. I will paste flow here but donât know if its proper way to show it.
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