Wyze Robot Vacuum - LiDAR-based SLAM technology explained

Hello Wyze Robot Vacuum users,

As you know, Wyze Robot Vacuum is equipped with a Laser Distance Sensor/LiDAR SLAM system that provides you with great advantages for room mapping and efficient cleaning with straight-line movements. Do you know how this LiDAR-based SLAM technology works?

How does the WRV build a map and navigate?

The top-mounted LiDAR sensor spins around (6 times/second) and emits a laser in every direction. It measures the reflected light back into the sensor to determine the position and distance (2,016 samples/second) of obstacles. The vacuum uses the data it collects in combination with information from its other sensors, including:

  • IMU (Inertial Measurement Unit calculating orientation, rotational changes, and acceleration)
  • Odometer
  • Drop sensor
  • Cliff sensors
  • Collision sensors

It gradually builds a map of the room and navigates during cleaning.

What is the logic behind saving and updating the map?

In order to save and update the map, the vacuum MUST start from the charging station and return to the charging station after completing a Quick Mapping or a whole home cleaning without user intervention, and the position of the charging station must remain unchanged.

What is the logic of resuming Cleaning after recharging?

  • When the size of the remaining area to clean is >= 25m^2 (269sqft), the vacuum will resume cleaning after recharging back to 60%

  • When the size of the remaining area to clean is < 25m^2 (269sqft), the vacuum will resume cleaning after recharging back to 40%

  • You can always cancel the remaining task during charging

Is the laser harmful?

Nope! The LIDAR sensor is not harmful to the naked eye. Wyze Robot Vacuum’s LiDAR sensor is certified as a ‘Class 1’ laser product that is not harmful to humans and animals. We also designed the disc to stop spinning after the sensor shuts down to further prevent any exposure to the sensor’s light.

If you encounter any bugs, glitches, lack of functionality, or other problems, please let us know immediately by submitting a log and contacting our Wyze Customer Support.

https://support.wyze.com/hc/en-us

Warmly,

The Wyze Robot Vacuum team

6 Likes

Interesting, I knew about the Lidar, Cliff Sensors, and Collision sensors.

I didn’t realize it had an odometer to measure the distance traveled, though this makes sense. I just thought it figured this out using the lidar.

What is the point of the drop sensor? To make it stop after it’s been dropped? I know the wheels drop down when we pick up the vacuum, and it knows it needs to be set down. Is this also from the Drop sensors? The cliff sensors should also be able to tell there isn’t ground closeby. Does the drop sensor tell the vacuum to pause when it senses a certain amount of G-force or something? And what exactly is the rationale for this? Why not let it just continue vacuuming as long as it recognizes that it is able to continue? Just trying to understand.

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Exactly. The vacuum stops when the drop sensor simply detects the dropdown on the wheels, not using the G-force sensor.

3 Likes

Great information! Thanks for this post.

1 Like