The Mijia sweeping robot may appear small, but it's actually a complex system made up of 1279 parts. It reflects the ingenuity and effort of the Mijia R&D team. In short, it can be described as: "The rice home sweeping robot is highly intelligent, clean fast and efficient!"
The first stage of disassembling the Mijia sweeping robot isn’t just about taking it apart—it’s about analyzing its internal structure and testing the overall system (RF) data to give users a deeper technical understanding of how it works and whether it’s worth purchasing.
**Tools/Parts**
- Mijia Sweeper
- Screwdriver
- Overall Analysis
**1. Appearance**
In terms of design, the Mijia sweeping robot features a circular shape, similar to many other brands on the market, and includes a transparent dust bin. The top is equipped with a self-developed 360° LDS laser ranging sensor. The body also has a lightning cover, sound hole, air vent, and charging port, making it suitable for various home environments.
On the bottom, there are three wheels (two main wheels and one caster wheel) and two brushes (a main brush and a side brush), allowing it to navigate different types of floors and furniture. The robot stands at 240mm tall, which allows it to easily reach under most furniture for deep cleaning. It also has an automatic recharging function, returning to the charging station when the battery is low.
The accessory box includes a power cable, charging stand, and the sweeper itself. The charger is designed with extra space for winding cables, adding convenience.
**2. Application**
Compared to random-movement robots, the Mijia model stands out with its advanced path planning capabilities, which are driven by laser-based navigation. This feature is rare in domestic models and usually comes at a higher price.
Inside, the robot has 12 built-in sensors that work in real-time with three processors. These sensors mimic human brain functions, passing data to the SLAM algorithm to build a map of the environment and enable real-time positioning. Based on this map, the robot follows a zigzag pattern to clean each area systematically.
**3. Hardware Configuration**
The Mijia sweeping robot uses a NIDEC brushless motor that delivers maximum suction pressure of 1800Pa. It also includes a quad-core Allwinner ARM Cortex-A7 processor, a TI DSP chip, and an STMicroelectronics Cortex-M3 microcontroller. With a battery life of up to 2.5 hours, it can clean up to 250 square meters per charge.
It is equipped with 12 different sensors, including a top-mounted laser rangefinder, side ultrasonic sensors, and a bottom cliff sensor. These sensors collect data from all directions, enabling real-time mapping and path planning.
The robot offers both high-speed and low-speed modes. In high-speed mode, the side brush runs at 330 RPM when moving along walls or obstacles, while in low-speed mode, it slows down to 130 RPM during zigzag cleaning to prevent debris from being scattered. The robot maintains a consistent 10mm distance from walls during wall-edge cleaning.
Its aerodynamic air duct design includes a bell-shaped inlet, creating a high static pressure zone that enhances suction. The curved inner surface of the duct ensures smooth airflow, maximizing efficiency.
With SLAM-based mapping, the robot can understand the layout of the room, identify obstacles, and plan an optimal cleaning path. Unlike standard robots that only use infrared scanning, the Mijia model can cover larger areas efficiently.
It also employs a Z-shaped cleaning pattern along the edges, completing each section systematically for better performance.
**Dismantling**
1. Panasonic 18650 lithium-ion battery with 5200mAh capacity.
2. Nidec brushless motor.
3. PCB board.
4. Metal positioning holes on the PCB, considering antenna impact.
5. RTL8189ETV wireless module and PCB antenna.
6. TI TMS320F28026DAS MCU.
7. LDS laser ranging sensor, consisting of control circuit, laser emitter, and receiver.
8. Ultrasonic radar sensor, with transmitter and receiver.
9. Laser tube and receiver sensor.
10. Original NIDEC brushless motor, with max airflow of 0.67m³/min and 1800Pa suction.
11. Wall and cliff sensors.
12. Dismantling family portrait.
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