Internal disassembly and analysis of the Enabot desktop robot

I wanted to dismantle this cat toy before, but never did it. Today I happened to have it in my hand, so I just used a screwdriver to dismantle it~

I have the 1300 R model, and the function is on the right.

This YYshuo Zhihu talked about the advantages of this thing

His cat

This thing can also be modified by adding some small accessories, but few are actually online.

This is a negative evaluation, talking about the ability to overcome obstacles.

This is also a negative review.

First of all, we have mentioned the obstacle-crossing capabilities, and from what I can see, both are indeed not very strong, but looking at the routing it seems like there is some feedback (or something).

As for privacy, how should I put it? I feel that it can only be restricted by law, because it is too easy for someone to take away your poor information.

I think the sensor system is adequate, but as for why it can't get out from under the drill press... how did it get in?

I looked at the founders, and they are both from Hong Kong University of Science and Technology and Songshan Lake.

This is a blogger's cat, not very smart

I read several reviews on this thing, and they all seem to be bought for cat use, for people who want to interact with their furry friends at home while they are at work or outside.

When some cats hear the sound, they will not locate the source of the sound like humans do, but will look towards the door. I think there may be some physiological feedback research that has not been followed up. That is, you take it for granted to interact with cats, but don’t think about whether cats accept this form. . .

Below is a small movement mechanism that can be removed. It is crawler-type. There may be a jamming phenomenon because the meshing action of gears will clamp, but why use this form? I think it is related to the scene. Generally, it is a large blank area. It does not need a large wheel to place it. There are also some that can complete omnidirectional movement on a 2D plane with only two motors, which should also save money.

It's two layers combined together.

There is only one large inductor on it, but it has a 102 silk screen, but the package looks like an inductor.

The black one is the counterweight, which is used to maintain balance and increase friction with the ground.

The black structural part is the speaker, which is the main force for interacting with cats. The following is for the small battery

Below is a special-shaped PCB board

SMD three-axis geomagnetic sensor:

QMC5883P is a three-axis geomagnetic sensor that integrates magnetic sensors and processing circuits on a silicon chip with an LGA package size of 3×3×0.9mm3. QMC5883P is based on the most advanced high-resolution magnetoresistive technology. 16-bit analog-to-digital conversion has the advantages of low noise, low power consumption, offset cancellation and temperature compensation. It can achieve 1° to 2° compass heading accuracy and digital communication. Applications are for compass, map rotation, games and personal navigation in mobile and wearable devices.

I didn't expect there was such a thing inside, it seems to have a whole house inspection function? That is probably inertial SLAM, combined with the motor below.

This should be a MOS tube

These are

Low Offset Voltage Dual

Pair of tubes, three pairs

There is also a PCB inside the upper shell, which is responsible for the connection between the camera and the light. The components are very nice. Maybe some of them are combined for impedance matching.

This is a big one when turned over. What is it called?

Call this name

Mainly parallel plate signal transmission

This one is also quite complicated because it has curved and multi-faceted plastic parts.

There is a 1080P starlight camera on the top and a TOF sensor. I forgot what the two sides are.

From the side, it is glued on a plastic part.

People are more used to this drawing board. It has all the necessary silk screen printing. The top is not a screen, but a small sticker. The bottom is an LED receiver. It's just a.

This is the same, there is a laser on it

This should be

Plug it in

This is what it looks like with the top panel removed.

The upper and lower parts are connected by a plug-in, which is stable and easy to install.

This is what it looks like with the top board removed.

There is a material similar to the DJI camera.

DJI Mavic Air2S Focus Lens Module:

Huada, this is it.

There is also a small stepping focus motor

So delicate

I don't know what chip this material is.

This is Dahua's chip. It seems to control two unknown chips.

This is Nano Memory

A PMOS tube is placed here

I don't know what this is used for, but it looks nice when it's lined up in a row.

You can tell from the component layout that it is

The PW5328B is a constant frequency, 6-pin SOT23 mode boost for small, low power applications. The PW5328B switches at 1.2MHz, allowing the use of tiny, low cost and. Internal soft start results in small inrush current and extends battery life. The PW5328B features automatic switching to pulse frequency modulation mode at light loads. The PW5328B includes undervoltage lockout, current limiting and thermal overload protection to prevent damage when the output is overloaded. The PW5328B is available in a small 6-pin SOT-23 package.

This is the same type as the 6-pin chip above, there is no mistake

Schematic diagram, the key is compactness

This is the layout

AO-, AO+ are most likely outputs on the circuit board.

Usually, some test points are designed on the circuit board controlled by the MCU to test the internal signals and status simply and conveniently.

Analog output test points are typically labeled AOxxx, where:

- AO stands for Output, i.e. analog output - the number behind it represents the number of the analog output channel, such as AO0, AO1, etc.

NCF_ALL and NCF_IN1 are likely to be two (Filr) related nodes on the board or.

NCF_ALL probably means a filter for all channels, and all input channels can be used after passing through this filter.

NCF_IN1 may represent the filter corresponding to the first input channel.

Common uses include:

1. In order to filter out high-frequency noise in the input signal or limit the input signal to a specific frequency band, we need to design a filter on the signal path.

2. To facilitate testing, test nodes need to be designed on the PCB. These nodes can be used to measure the input and output signals of the filter.

3. In order to adapt to different input signal characteristics, independent filters need to be designed for different channels.

4. When the input signal is more complex, it is also necessary to design a universal filter for use in all channels.

It feels like so many inductors are for filtering, but I’m not sure if that’s the case.

Above is the main control + WIFI + power supply

I don't know this.

An audio

I also have the data sheet

The main control runs Liunx. Obviously there are a lot of wires running on it. It is the camera.

This chip is a dedicated camera chip, and the others are part-time

Flat replacement HI, 85 is not cheap

With 0.5T computing power, I wonder if AI can be used. Horizon Robotics can

The selection of this master control and the application scenario are basically perfectly matched

It seems better than HI

This is a peripheral block diagram

If I can find a more detailed data sheet, I will reverse it.

First of all, I approve of this product. I think it is very well finished. It may not be so perfect, but the materials are sufficient. I also think it is a bit cheap. It can be more expensive.

Horizon Robotics seems to be able to do this job? Can it do better?

Editor: Huang Fei