Kobold VR200 Problem and Neato Control report.

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Kobold VR200 Problem and Neato Control report.

Postby Legolas84 » September 15th, 2018, 1:15 pm

Hi,
I have a kobold Vr200 (with last firmware) that has become stupid recently. Avoid obstacles that do not exist. It often goes in reverse for no reason.
today he could not get back to the base.
I discovered the neato control and I use it on my kobold.
In the sensors tab this is the result:


____ Discrete: ____=
SNSR_DC_JACK_IS_IN=False
SNSR_DUSTBIN_IS_IN=False
SNSR_LEFT_WHEEL_EXTENDED=False
SNSR_RIGHT_WHEEL_EXTENDED=False
LSIDEBIT=False
LFRONTBIT=False
LLDSBIT=False
RSIDEBIT=False
RFRONTBIT=False
RLDSBIT=False
____ Analog: ____=
BatteryVoltage=mV=13683
BatteryCurrent=mA=-89
BatteryTemperature=mC=37672
ExternalVoltage=mV=819
AccelerometerX=mG=-20
AccelerometerY=mG=-12
AccelerometerZ=mG=986
VacuumCurrent=mA=0
SideBrushCurrent=mA=0
MagSensorLeft=VAL=0
MagSensorRight=VAL=0
WallSensor=mm=90
DropSensorLeft=mm=0
DropSensorRight=mm=0
RightWheelDropSensor=mm=0
UltraSoundRightRight=mm=2147483647
UltraSoundRightCenter=mm=2147483647
UltraSoundRightLeft=mm=2147483647
UltraSoundCenterRight=mm=2147483647
UltraSoundCenterCenter=mm=2147483647
UltraSoundCenterLeft=mm=2147483647
UltraSoundLeftRight=mm=2147483647
UltraSoundLeftCenter=mm=2147483647
UltraSoundLeftLeft=mm=2147483647
____ Buttons: ____=
BTN_SOFT_KEY=False
BTN_SCROLL_UP=False
BTN_START=False
BTN_BACK=False
BTN_SCROLL_DOWN=False
BTN_SPOT=False
IR_BTN_HOME=False
IR_BTN_SPOT=False
IR_BTN_ECO=False
IR_BTN_UP=False
IR_BTN_DOWN=False
IR_BTN_RIGHT=False
IR_BTN_LEFT=False
IR_BTN_START=False
IR_BTN_LEFT_ARC=False
IR_BTN_RIGHT_ARC=False
____ Charger: ____=
FuelPercent=13
BatteryOverTemp=0
ChargingActive=0
ChargingEnabled=1
ConfidentOnFuel=1
OnReservedFuel=1
EmptyFuel=0
BatteryFailure=0
ExtPwrPresent=0
ThermistorPresent=1
BattTempCAvg=37
VBattV=13.68
VExtV=0.81
Charger_mAH=0
Discharge_mAH=86

something wrong?
thanks for the help!
Legolas84
 
Posts: 1
Joined: September 15th, 2018, 1:07 pm

Re: Kobold VR200 Problem and Neato Control report.

Postby glnc222 » September 16th, 2018, 9:42 pm

The report is not how the Neato Control is used. The display is continuously updated to show changes in the sensors instantly. To test the sensors you do things such as press on the bumper to see the result registered in the display. The command TESTMODE ON must be issued for some sensors to record, I think the cliff and wall sensors and the mag sensors if present -- try if there is no response at first. Be sure TESTMODE OFF is used before exiting, or if properly exited before disconnecting it will be done by the program. If test mode is left on, the robot will not clean until going back in to the program to turn it off. Test mode allows using each motor separately.
To test the wall and cliff proximity sensors, move a hand back and forth in front of the sensors to see the changes.
The mag strip sensors can similarly be checked moving a mag strip close to the sensor and away from it.

LIDAR problems also are not shown in the simple report. The graphic display of the lidar scan produced by the program must be examined.

Phantom obstacles which interfere with navigation can be caused by faulty bumper sensors and the wall proximity sensor. Failure of the latter typically causes the robot to move in tight circles under the impression the robot is surrounded by walls. It can also cause a premature return to base, figuring the apparently enclosed space is finished.

The robot also senses stalling of the drive wheels, from bumping things without tripping the bumper, and other conditions; note there is no bumper in the rear, for example. It is not clear how to analyze such sensing failure with the Neato control, as contact is detected by momentary high loading of the drive motors, whose current load is monitored along with their rotation with a tachometer (important for driving straight lines, done by comparing the two sides etc., not just with the lidar).

The robot also includes an inertial navigation IC, or accelerometer, whose use is not known. Neato Control shows readings from that chip I think, but I do not know how to interpret that. A few reports have mentioned problems with that IC. It would help to have a baseline of observations from a properly working unit to compare.
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Re: Kobold VR200 Problem and Neato Control report.

Postby glnc222 » September 17th, 2018, 12:14 am

Another problem with cliff sensors should be noted. Dark colored floors including black pattern lines in some carpets prevent the sensors detecting the floor, with the type of sensor used (there are better ones). The robot will then reverse away from the false cliff detection and navigation could be disrupted entirely. To test this condition, read the Neato Control display for the cliff sensors on the floor and compare with placing white paper underneath, if the floor is dark. It is common to disable the cliff sensors by covering with light colored paper or tape to present a false floor with certain types of flooring and carpet. Obviously some other barriers will have to be used for actual cliffs in the environment if present.

It seems the newest Roomba model announced may be the first brand to finally adopt the superior type of IR Proximity sensor for cliffs, claiming to solve this widespread limitation of the vacuums. Detection by parallax (similar to the lidar, but fixed distance), compared to the common intensity method, reduces dependency on floor properties.

Another matter is the ultrasound detectors on the Vorwerk bot not supplied on the Neato models. Experiments are needed to know the normal values of these sensor outputs shown by the program, to determine whether there is any defect. These sensors could be tested similar to the wall sensor by moving a hand or something close to and away from the sensor, just to observe a proper sensitivity. Noticeable response of some kind would suggest they are working, apart from particular values.
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Re: Kobold VR200 Problem and Neato Control report.

Postby Lewiy » September 17th, 2018, 6:15 am

Since the bot does not find the base, you should check the lidar first. It's on the Scanner tab.
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