My vision was blocked. Please press OKAY (3000)

News and information about the Neato XV-11 Robotic Vacuum. All discussion and troubleshooting questions go here.

Re: My vision was blocked. Please press OKAY (3000)

Postby Lewiy » July 9th, 2017, 12:19 am

Nounours32 wrote:Would you know the difference?

Jinpat is not the only slip ring manufacturer in the world. It is not difficult to find a replacement with suitable dimensions and specs, such as for LPM-04A. Perhaps even cheaper, for example -- https://www.aliexpress.com/item/ZSR012B-4-4-Channel-2A-12-5mm-Out-Diameter-Precision-Turntable-Conductive-Slip-Ring-For-High/32815442901.html. The same can easily be found on Ebay. But...
Neato slip ring has a rectangular mounting plate (to be exact - rectangular fragment disk - the unique shape) with four holes, in contrast to the A-series and others, which have a round mounting plate with three holes. Another non-obvious difference should be in the protection class (dust and water for 04B by analogy with the 06B Jinpat specification).
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Re: My vision was blocked. Please press OKAY (3000)

Postby chip_1 » December 18th, 2017, 3:57 pm

I, too, are a sad owner of Neato botvac D75. Lidar does not work.
It rotates at a variable speed. After three attempts, it stops with an error of 3000.
The lenses are clean, the motor is good, the bearing is clean and rotates easily... I do not know what to do. Here a similar problem has already been voiced, but there is no solution yet?
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Re: My vision was blocked. Please press OKAY (3000)

Postby vic7767 » December 18th, 2017, 4:36 pm

As the Lidar turret spins up, there are 360 data words that begin to be sent from the Lidar circuit board to the PWM controller. Each word contains the present speed, as well as distance information. The PWM controller adjusts the speed of the turret to 300 rpms based upon the contents of each data word. If the PWM controller is defective or the data words are corrupted the Lidar will not reach the correct speed and shut down with the error 3000.
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Re: My vision was blocked. Please press OKAY (3000)

Postby chip_1 » December 19th, 2017, 9:52 am

Can you say what data format? Can I parse data using Arduino for example?

I experimented. Connected neatocontrol, the engine was switched on from a laboratory power source. There was a time when neatocontrol was giving data from the lidar. I changed the voltage from 2.9 to 3.5 volts, and the lidar gave the data! So speed is not very important.
Where is the data lost? I suspect that it is necessary to check the infrared optical pairs on a rotating lidar element.
But these are only assumptions.
What are your assumptions? Where are the data lost?
Thank you!
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Re: My vision was blocked. Please press OKAY (3000)

Postby vic7767 » December 19th, 2017, 10:21 am

There is info posted here: https://xv11hacking.wikispaces.com/
Roomba and Neato Mods, come visit: http://www.vic7767.com/

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Re: My vision was blocked. Please press OKAY (3000)

Postby glnc222 » December 19th, 2017, 4:51 pm

The rotation speed must be correct to identify the direction pointed, computed by timing assuming the speed. There is a single alignment sensor maybe starting it once each revolution. Data is returned for 360 degree points, distance and intensity. The distance is obtained by parallax angle measured in a camera-like sensor, like an optical range finder not light speed timing like radar (so good over short distances). Many repairs made by replacing worn motors, though the slip ring can also be worn, and the belt.
A number of code packages were produced for using the lidar which was often removed from the Neato's for other robotics projects. They had a contest to hack it when first released a dozen years ago.
It uses a serial interface to the main cpu -- self-contained smart assembly.
Google for references.

[edit] So if speed is wrong, the 360 data points returned won't align with the timed reading by the cpu, which then will detect some discrepancy in the data format, over-run or something with a data buffer, depending on the algorithm details.
Last edited by glnc222 on December 19th, 2017, 5:02 pm, edited 1 time in total.
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Re: My vision was blocked. Please press OKAY (3000)

Postby glnc222 » December 19th, 2017, 4:59 pm

From the Mods & Repairs list thread top of forum page:

Microcontroller based complete Lidar Test Instrument
http://www.robotreviews.com/chat/viewtopic.php?f=20&t=19060

Arduino DIY lidar interface
http://www.robotreviews.com/chat/viewtopic.php?f=4&t=19881&p=143081#p143081

Lidar Internal Electronics
http://blog.avrnoob.com/2015/08/neato-botvac-lidar-repair-part-1-ir.html
More Lidar repair, internals http://blog.avrnoob.com/2015/08/neato-botvac-lidar-repair-part-1-ir.html
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Re: My vision was blocked. Please press OKAY (3000)

Postby chip_1 » December 20th, 2017, 3:36 am

Thank you! I will understand why he turns with different speeds ...
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Re: My vision was blocked. Please press OKAY (3000)

Postby glnc222 » December 20th, 2017, 1:44 pm

There was a case where the alignment optical sensor detecting revolution was bent out of position and easily fixed. If that sensor is not working right, the feedback control for rpm in the cpu could get confused and cause peculiar variations in speed, just one possibility. I am not sure where the rpm control is, whether inside the lidar's own microcontroller or in the bot main cpu. The spin motor does not have internal control like the suction fan. Just a simple CD player motor.
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Re: My vision was blocked. Please press OKAY (3000)

Postby chip_1 » December 20th, 2017, 2:40 pm

Control is carried out by an optical pair and a "comb"
I checked it. Optopar is good.
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Re: My vision was blocked. Please press OKAY (3000)

Postby rustyosaurus » January 22nd, 2018, 1:38 pm

This might not help anyone, but mine XV routinely says "vision blocked" and all I do it get something long and thing and rotate the eye so that it is pointing forward. It works every time for me. Maybe ya'll have a more serious issue.
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