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Click the icon on the upper left corner, and

choose "Mapping By Rover" in the pop-up menu.

Choose your ACS2 RTK.

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Summary of Contents for R150

Page 1: ...User Manual EN Version 1 0 R150 Unmanned Ground Vehicle Spray Version ...

Page 2: ...ed in this document before attempting to use the R150 Unmanned Ground Vehicle Contact Us If you have any questions about this document please contact our Technical Support team via email info xa com Click to View See the Contents below for a quick overview of this document While browsing the digital version clicking on each title will redirect you to the corresponding page ...

Page 3: ...nnas 6 Adjust wheel arm 7 Adjust front wheel arms alone 7 Adjust both front and rear wheel arms 7 Use R150 8 Activate 8 Download XAG AGRI App 10 Connect to ACS2 ControlStick 10 Power ON OFF 10 Connect to XAG AGRI App 11 ControlStick Buttons 12 Autonomous remote control switch 12 Unlock Unpark 12 Motion control 12 Speed settings 13 Smart mode 13 Cruise control 13 Smart Battery Preparation 14 Instal...

Page 4: ... Use Instructions 17 Pairing 18 Firmware Update 21 Update ControlStick 21 Update vehicle 24 Connecting to Cloud RTK Base 27 Calibrating Pump 29 Sprayer Test 30 Horizontal control 31 Vertical control 31 Spray settings 32 Operation Mode 33 Waypoint mode 33 Shuttle mode 56 Follow me mode 58 Technical Specifications 59 Safety Instructions 60 Disclaimer 61 Warning 62 ...

Page 5: ...farming with concise modular design robust on board carrier powerful scalability and multiple operation modes When equipped with the XAG JetSprayer System XIoT Agriculture IoT System or other smart agriculture options the R150 can offer a wide range of services from precision crop protection field scouting to on farm material delivery By delivering industry leading autonomous solutions that lead t...

Page 6: ...r Chassis Guard Nameplate Roll Cage Front Bumper RTK Antenna Wheel Arm Cover 2 4 5 8GHz Dual frequency Antenna Tire Battery Hatch Vehicle Frame Wheel Arm Rear Bumper Liquid Container Jet Sprayer Smart Pan Tilt Control Box Battery Control Box Battery Hatch Cover Warning Light Emergency Stop Figure 1 Vehicle Module Structure Figure 2 Frame Module Structure ...

Page 7: ...mergency stop button is not pressed in case of emergency while driving press the emergency stop button and the braking device will cut off the power and stop the vehicle Gently rotate the emergency stop button and it will pop up Pressing the emergency stop button only cuts off the power supply to the vehicle motor not the jet sprayers Before you attempt any cable work on the sprayers be sure to fi...

Page 8: ...n the left unit and the right one as shown in the figure below the arrow points to the vehicle front L stands for left and R stands for right Note Vehicle Assembly Assemble jet sprayer Fix the left and right jet sprayers on the vehicle and tighten the fixing screws M8 20 ...

Page 9: ...motor Atomization motor Pneumatic motor Pneumatic motor Pan tilt CAN CAN of pan tilt Pan tilt power Power of pan tilt Liquid container power and CAN Reserved power and CAN Wiring of Jet Sprayer Control Module 1 Do not assemble or disassemble any modules while the device is powered on 2 Turn on the power supply only after all modules have been installed Note Vehicle Front Vehicle Front L AF GM DC L...

Page 10: ... please use zip ties to affix the cable to the control box holder to avoid cable loosening or wear caused by bumps while the vehicle is in motion Note Install RTK antennas Fix the left and right RTK antenna on the vehicle and tighten the fixing screws M3 8 6 ...

Page 11: ...e the vehicle s wheelbase or chassis height by either adjusting the front wheel arms individually or adjusting both front and rear arms col lectively Changes made to the wheelbase can improve the vehicle s climbing performance Adjust front wheel arms alone Adjust both front and rear wheel arms ...

Page 12: ...com en 8 Use R150 Activate Steps Visit our User Registration Website at https agri xaircraft com pm login register and log in Choose Me on the homepage and then click Scan QR to begin the process of activation ...

Page 13: ...www xa com en 9 Enter your activation code to be acquired from your dealer and click Confirm Check your account information and click Bind Device Then your device should be activated ...

Page 14: ...hen the ControlStick is on off press and hold the Power button for approximately 2 seconds until the six indicator lights flash at the same time Release and then press and hold the Power button again for 2 seconds until a voice prompt is heard from the ControlStick Download XAG AGRI App Before using the R150 please first scan the QR code below to download and install the XAG AGRI App Android only ...

Page 15: ...ult hotspot name is ACS2_XXX where XXX is the serial number marked on the top of the ControlStick and the default password is 20070401 Open the XAG AGRI App and log in to your account When the icon on the homepage lights up it means the phone and the ControlStick are successfully connected Connect to XAG AGRI App ...

Page 16: ...to unlock the vehicle and press again to lock After unlocking the vehicle in manual mode press and hold the lower button for 1 5 seconds to deactivate parking then the vehicle can be moved freely Press and hold the middle button to switch to autonomous mode Press any button to switch back to remote control mode Press the Forward Backward button to drive the vehicle forward backward Press the Turn ...

Page 17: ...ter exit shuttle mode You have to exit the current mode before switching to another operating mode Press and hold the button until the voice prompt Enter cruise control mode is heard The vehicle will begin to drive ahead automatically Press the Left Right button to move the vehicle back to its lane in case of deviation Press or the blank button to exit cruise control mode You need to exit the curr...

Page 18: ... release the button after all battery level indicator lights flash at the same time then press and hold the button for at least 1 second again until a beep is heard from the battery and the status indicator is on This indicates that the battery has been powered on off successfully Battery Level LED 1 LIGHT FLASH 1 LIGHT ON 2 LIGHTS ON 3 LIHGTS ON 4 LIHGTS ON 5 LIHGTS ON 2 LIGHTS DOUBLE FLASH Self ...

Page 19: ...lacing heavy objects on the battery or otherwise putting pressure on the battery Regularly check the battery terminal plug and other components before use Do not use alcohol or other flammable agents to clean charging devices Do not use a damaged charging device When charging place the battery and charging devices on the flat ground that is free of flammable or combustible materials Battery chargi...

Page 20: ...The liquid inside the battery is highly corrosive If it is inadvertently contacted with your skin or eyes rinse with clean water and seek medical advice immediately When disposing of the battery please follow local laws and regulations Protect the natural environment and do not discard it irresponsibly LED GREEN LIGHT ON GREEN LIGHT ON GREEN LIGHT ON GREEN LIGHT FLASH GREEN LIGHT FLASH RED LIGHT O...

Page 21: ...as fire due to overheating Regularly check the battery terminals plug and other components before use Do not use alcohol or other flammable agents to clean charging devices Do not use damaged chargers For repairs or replacement please contact XAG s aftersales or designated dealers Do not use smart batteries or chargers other than the original ones manufactured by XAG The user shall bear the respon...

Page 22: ...e connected open the XAG AGRI App swipe right on the homepage or click the profile photo and select Devices to view the list of devices Click ADD DEVICE below to search for a device Pairing Steps For first time use please pair the device via the XAG AGRI App ...

Page 23: ...ing mode is displayed on the screen The vehicle should be powered off for more than 10 seconds before being powered on again Wait until your vehicle is shown on the pairing page and click on it to pair Then the phone prompts Paired and your vehicle will be dis played in the device list ...

Page 24: ...www xa com en 20 Having your vehicle paired select it in the device list and click Deploy If Deploy is marked next to the vehicle s name it means it is functioning normally ...

Page 25: ...the ControlStick to be Updated and click on Update Firmware Update Firmware including ControlStick firmware and unmanned vehicle firmware needs to be checked before using the R150 to confirm if there are new versions available if so follow the update procedure to update the firmware to the latest version Update ControlStick ...

Page 26: ...d and click on Update Once the firmware update is complete follow the instructions to restart the ControlStick and the system will be automatically updated Do not disconnect the smartphone and the ControlStick while downloading or transmitting data ...

Page 27: ...update is complete return to the home page and click on the icon to view informa tion on the ControlStick Check whether the corresponding firmware has been updated to the latest version if not please follow the above steps again ...

Page 28: ...www xa com en 24 Update vehicle Open the XAG AGRI App swipe right on the homepage or click on the profile photo and Se lect Devices Choose the vehicle to be updated and click on Update ...

Page 29: ... to be updated and click on Update Once the firmware transfer is complete follow the instructions to restart the vehicle and finish the update Do not disconnect the smartphone and the ControlStick while downloading or transmitting data ...

Page 30: ...After the update is completed return to the homepage and click on the icon to view infor mation on the vehicle Check whether the firmware has been updated to the latest version if not please follow the above steps again ...

Page 31: ...Connect button on the right of Connect to base station Connecting to Cloud RTK Base Before being operated on the R150 needs to be connected to a base station with a strong signal so that the vehicle can obtain stable and effective differential data during operation If there is no Cloud RTK Base in the operation area please refer to RTK Rover Portable Base to set up a portable base ...

Page 32: ...www xa com en 28 Select the cloud RTK base with the shortest phys ical distance and the strongest singal and click on Connect Select Cloud RTK Base ...

Page 33: ...rameters Calibrating Pump Before each spraying operation please first calibrate the pump of the liquid container to ensure the information on liquid volume is accurate Click on the icon on top of the page to view parameters of the spray system then click on the Turn On button to the right of Pump Calibra tion to calibrate the pump of the liquid contain er as required ...

Page 34: ...le is at a standstill so that the jet sprayers can spray at a specified point or within a specified range Click on the icon on the homepage to view information on the vehicle Click the icon on top of the page to view parameters of the spray system then click Settings to set spraying parameters ...

Page 35: ...cal Control of the pan tilt Swing is set at four speed levels slow medi um fast and acceleration Vertical control Turn on off Synchronous Control and swipe the vertical control bar to synchronously sepa rately set the range of vertical swing of the left and right sprayers Turn on off Swing and swipe the vertical con trol bar to synchronously separately set the an gle or range of vertical swing of ...

Page 36: ... setting the parameters of horizontal control vertical control and spraying click Turn On and choose Yes after clearing the surroundings Then the vehicle will start spraying according to the set parameters Before turning on the sprayer please make sure that no human being or animal is within 5 meters of the vehicle to avoid injuries caused by spraying pesticides or other liquids Click the Turn Off...

Page 37: ... farmland conditions crop types etc to match your personal farming needs Waypoint mode Enable autonomous operation that follows a pre set route on the XAG AGRI App Create field There are two ways of surveying and mapping to create a field high definition map and ACS2 RTK See the following for details High definition map Open the XAG AGRI App swipe right on the homepage or click the profile photo a...

Page 38: ...www xa com en 34 Select the Survey mode in the pop up menu below Type in the name of the new field select route type and click OK ...

Page 39: ...www xa com en 35 Click on the icon on the upper right corner and select the HD mode Click the icon on the upper left corner and choose Mapping By Rover in the pop up menu ...

Page 40: ... the marked field and click Record around an obstacle to define its boundary points Select RESTRICTED ZONE move the red cross cursor within the marked field and click Record around a restricted area to define its boundary points Click the icon to set parameters such as spray width safety distances from the boundary re stricted zone and obstacle After setting these parameters return to the field cr...

Page 41: ...lick the icon to visit the boundar y management page where you may change boundary points if necessary Click any field boundary line and the system will automatically generate a route using the boundary as the base line ...

Page 42: ...38 Click the icon on the upper right and choose Upload to upload the field ACS2 RTK Insert the differential positioning module RTK into the top of the ControlStick A click will be heard when it is installed correctly ...

Page 43: ...www xa com en 39 Click the icon on the page to create a new field Open the XAG AGRI App swipe right on homepage or click the profile photo and select Field ...

Page 44: ...www xa com en 40 Select the Survey mode in the pop up menu below Type in the name of the new field select route type and click OK ...

Page 45: ...www xa com en 41 Click the icon on the upper left corner and choose Mapping By Rover in the pop up menu Choose your ACS2 RTK ...

Page 46: ...lStick and move to a location choose BOUNDARY OBSTACLE or RESTRICTED ZONE on the App and click Record to define it as a boundary point Press and hold the button on the ControlStick for 3 seconds to enter the surveying and mapping mode ...

Page 47: ...boundary management where you may change boundary points if necessary Click the icon to set parameters such as spray width safety distances from the boundary restricted zone and obstacle After setting these parameters return to the page of field creation ...

Page 48: ... sys tem will automatically generate a route using the boundary as the baseline Click the icon on the upper right and choose Upload to upload the field Upon completion press and hold the button on the ControlStick for 3 seconds to exit surveying and mapping mode ...

Page 49: ...www xa com en 45 Click NEW TASK at the bottom Create operation order Open the XAG AGRI App click Please Select Task on top to view the list of operation orders ...

Page 50: ...www xa com en 46 Fill in the information on the order of operation and click Confirm to return to the list of orders Click the operation order created to view information on field ...

Page 51: ...www xa com en 47 Choose the corresponding field and click Confirm on the upper right corner Click the icon and select Add in the pop up menu ...

Page 52: ... the operation order to start operation directly after this step please jump to Page 50 Start operation Before a spray operation please first add an appropriate volume of liquid into the container Open the XAG AGRI App swipe right on the homepage or click the profile photo and select Operation ...

Page 53: ...www xa com en 49 Click the operation order Click Please Select Task on top to view the list of operation orders ...

Page 54: ...com en 50 Choose the field to be operated and click the icon to return to the operation page Long press the name of the vehicle shown on the menu bar below or the red arrow on the map and drag it to the field ...

Page 55: ...ure in the menu bar at the bottom of the operation page to set the speed for the vehicle to enter the route by swiping left and right Set departure speed Then the menu bar below will show the required operation parameters to be set ...

Page 56: ...t the bottom of the operation page to set the route for operation Select route Click Return in the menu bar at the bottom of the operation page to set the speed for the vehicle to exit the route and return by swiping left and right Set return speed ...

Page 57: ... Set parameters for Horizontal Swing Control and Vertical Position Control of the sprayer s pan tilt Click Spray Mode in the menu bar at the bottom of the operation page to set the pan tilts of the sprayers Spray mode ...

Page 58: ...www xa com en 54 Click Dosage on the operation page to set the dosage and degree of atomization as required After setting click Upload Route Set dosage ...

Page 59: ... the vehicle will automatically start the operation To pause operation click the pause button and the vehicle will suspend current operation Click the resume button and the vehicle will resume To end operation click the stop button to finish the operation on the current field To switch to another field click the stop button and then click the icon to operate on a new site ...

Page 60: ...g the path Both operations can be repeated Double click the button to exit the shuttle mode The system will optimize the recorded path while learning leading to deviations from the actual path and the shuttle route If there are some points that the vehicle must drive by you can press and hold the button to record them as checkpoints during the learning process Then the vehicle will record the poin...

Page 61: ...www xa com en 57 When the vehicle begins path learning auto shuttle the homepage of the XAG AGRI App will display the icon and the status information of the vehicle ...

Page 62: ...e RTK module The safety distance between the vehicle and ACS2 RTK is about 2 5 meters The following accuracy depends on the RTK signal A weak RTK signal may hinder the vehicle from following you or cause it to deviate from the planned path In such cases you must promptly stop the vehicle using the ControlStick or by pressing the emergency stop button There is a 3 second delay between recording one...

Page 63: ...ngle 15 Downslope angle 15 Protection grade IP54 Atomization range 60 200μm Maximum spray width 12m Booster fan Maximum rotate speed 9000rpm Outlet air speed 16m s Maximum rotate speed 85000rpm Outlet air speed 160m s High pressure atomization motor Peristaltic pump with high pulse frequency Basic parameters Jet Sprayer Unmanned Ground Vehicle Automatic liquid container Rated capacity 100L Materia...

Page 64: ...he vehicle in case of fatigue after drinking or in poor health conditions The vehicle is not suitable to carry people Do not ride the vehicle under any circumstances When the vehicle is not in operation please ensure all power sources are isolated and park the vehicle on flat ground Do not park the vehicle on slopes if the vehicle must be briefly parked wedges must be placed under the tires to avo...

Page 65: ...to any reason caused by the user XAG will not assume any responsibility 05 To the maximum extent permitted by law XAG does not under any circumstances provide any warranty express or implied with respect to the products including but not limited to implied warranties of their reliability and effectiveness in application scenarios beyond the scope of use fitness for a particular use or non infringe...

Page 66: ...se it may cause serious injury to yourself or others or cause product damage and property loss Strong safety awareness is required to operate this product This product is not suitable for children and people under the age of 18 Do not use the parts that are not officially provided or suggested by XAG Please strictly follow XAG s instructions to install and use the product within the intended scope...

Page 67: ...WeChat Public Account of XAG ...

Page 68: ...ods and processes etc belongs to XAG Co Ltd and is protected by copyright law Without written authorization no individual or institution is allowed to reproduce extract translate distribute or otherwise reproduce or quote any content hereof This Manual is subject to update without prior notice info xa com XAGofficial XAG_official XAG Official ...

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