The Mijia sweeping robot may look small, but it's a complex system with 1279 components. It reflects the intelligence and hard work of the Mijia R&D team. In one sentence, it can be described as: "The Xiaomi home sweeper is highly intelligent, cleaning efficiently and quickly!"
The first phase of the disassembly isn't just about taking it apart—it's an in-depth technical analysis that helps users understand how the robot works and whether it's worth buying.
**Tools/Parts**
- Xiaomi Sweeper
- Screwdriver
- Overall Analysis
**1. Appearance**
In terms of design, the Mijia sweeper features a circular shape, similar to many other brands, and includes a transparent dust bin. The top is equipped with a self-developed 360° LDS laser sensor. The body also has a lightning cover, a sound hole, an air vent, and a charging port, making it suitable for various home environments.
On the bottom, there are three wheels (two main wheels and one caster) and two brushes (main and side), allowing it to navigate different floor types. The robot’s height is 240mm, which allows it to clean under most furniture. It also has an automatic recharging function—when the battery runs low, it returns to the charging station on its own.
The accessory box includes a power cord, a charging stand, and the sweeper itself. The charger design is particularly clever, allowing extra wires to be neatly wrapped inside.
**2. Application**
Compared to random-path robots, the Mijia model stands out due to its advanced path planning. Its laser-based navigation system is one of the most competitive features, and such technology is usually found in more expensive models.
The robot is equipped with 12 built-in sensors that transmit data in real-time to three processors. This mimics human-like thinking, helping the SLAM algorithm build a map of the environment and position itself accurately. Based on this map, the robot creates a zigzag cleaning pattern, dividing the space into sections for efficient cleaning.
**3. Hardware Configuration**
The Mijia sweeper uses a NIDEC brushless motor capable of delivering up to 1800Pa of suction power. It also includes a quad-core Allwinner ARM Cortex-A7 processor, a TI DSP chip, and an STMicroelectronics Cortex-M3 microcontroller. The battery lasts up to 2.5 hours, covering an area of 250 square meters per charge.
With 12 different sensors—including a top-mounted laser rangefinder, side ultrasonic sensors, and a bottom cliff sensor—the robot gathers comprehensive environmental data, processes it in real time, and builds detailed maps for accurate navigation.
It offers both high-speed and low-speed modes. In high-speed mode, the side brush spins at 330 RPM when cleaning along walls or obstacles, while in low-speed mode, it slows down to 130 RPM during zigzag cleaning to prevent debris from being thrown around. The robot maintains a 10mm distance from walls during edge cleaning.
Its aerodynamic air duct design, featuring a bell-shaped intake, creates a high static pressure zone, significantly increasing suction power. The internal airflow is guided smoothly through a three-stage curved surface, improving efficiency.
The robot plans its cleaning route based on the map created by the SLAM algorithm, using sensors to detect objects and plan paths in real time. Unlike typical robots that only use infrared scanning, the Mijia model can cover larger areas with precision.
It follows a Z-shaped path along edges, completing each section efficiently.
**Dismantling**
1. Panasonic 18650 lithium-ion battery with 5200mAh capacity
2. Nidec brushless motor
PCB board
Metal positioning holes on the PCB, considering antenna interference
RTL8189ETV wireless module and PCB antenna
TI TMS320F28026DAS MCU
LDS laser rangefinder, consisting of control circuit, laser emitter, and receiver
Ultrasonic radar sensor, with transmitter and receiver
Laser tube and receiver sensor
Original NIDEC brushless motor, reaching 0.67m³/min air volume and 1800Pa suction
Wall and cliff sensors
Dismantling family portrait
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