ZKBot-D1
User Manual
P a g e
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Copyright©2022 ZKTECO CO., LTD. All rights reserved.
5
Daily Main Events
Problem 1: Loss of Machine Positioning
Loss of positioning means that the robot's map position does not match the actual environment position.
Reason
：
1.
The positioning is lost due to the manual pressing of the emergency stop switch to move the machine.
2.
The robot will match the current map according to the actual laser data during the movement. If the
difference between the current environment and the map is too large, the robot will fail to match the
map, resulting in the loss of positioning. If the positioning is lost, the robot will lose its path planning
ability and cannot move.
3.
Some people surround the machine in front, which will lead to the loss of positioning. If many people
surrounds the machine, the laser will be blocked, and the matching degree between the laser and the
terrain will become very low, which will lead to the loss of positioning.
Solution
：
1.
Press the robot’s
Emergency Stop
switch, push the robot under the nearby QR code label, and then
open the FTP application on the screen to observe the information in the last column. If the machine
recognizes the last column of the QR code, it will display visual_mark [Name: C0189] means that the
label has been recognized and the machine has completed relocation. At this time, turn on the
Emergency Stop
switch and continue to let the machine perform the task. (
Note:
The number of the
label C0189 is not fixed, and the number of each label is different).
2.
Open the FTP application on the screen and enter the IP address displayed in the IP bar of the navigation
system in the browser, Enter the machine background and manually relocate the machine.
3.
Move the machine to the position of the charging pile, and restart the machine within 2m of the
charging pile (Note: The target point of the charging pile should be marked on the map).
Problem 2: Machine Not Navigating
Machine not navigating means trying to let the machine navigate to a certain point and the machine does
not move.
Reason
：
1.
Check whether the
Emergency Stop
switch of the machine is turned
ON
, and the machine can navigate
autonomously only when the machine is turned
ON
. The
Emergency Stop
switch is turned to the right
to turn
ON
, and pressed to turn
OFF
.
2.
Check whether the machine has lost its location (The orange laser and the black obstacles on the map
do not completely overlap, indicating that the location is lost).
3.
Check if the machine is close to an obstacle or virtual wall (The machine cannot navigate if the machine
is close to an obstacle or virtual wall).
4.
Check if the target point is close to an obstacle or virtual wall.
