ZKTeco ZKBot-D1 User Manual Download Page 10

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ZKBot-D1

User Manual

P a g e

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Specifications

Specification Name

Parameter

Operating System

Android 5.1.1

CPU

RK3128

Overall Size

Diameter: 500mm, Height: 1300mm

Screen Size

7 inch LCD TFT Touchscreen (resolution 1024*600)

Tray Size (L*W)

320*400mm

Number of Tray

Single Tray Loading Capacity

10Kg

Machine Total Loading Capacity

30Kg

Move Parameters

Moving Speed

0.1 ~ 0.8m/s

Narrowest Aisle Moving (width)

80cm

Climbing

≤5°

Rotation Radius

360° (Avoiding Obstacle)

Swing Radius

254mm

Navigation Method

Laser Navi Visual Posit Visual Obstacle Avoidance

Lidar

Laser wavelength 905 nm, working area 270°

Infrared Camera

Two-dimensional code positioning (the height of the two-dimensional

code from the camera is 1 to 3m or 1 to 5m); 5 million pixels

3D Camera

Recognition Range: 45 degrees up and down, 58 degrees left and right

Communication

WiFi (Support dual frequency 2.4 & 5 GHz WiFi IEEE 802.11 b/g/n);

4G LTE (Card Slot)

Memory

1GB (LPDDDR3)

FLASH

8GB (Built-in NAND)

USB Communication Interface

Micro USB interface

Battery Capacity

24V 20AH

Battery Life

About 10 hours

Charging Time

4A (about 8 hours), 7A (about 5 hours)

Summary of Contents for ZKBot-D1

Page 1: ...ead the instructions carefully before operation Follow these instructions to ensure that the product is functioning properly The images shown in this manual are for illustrative purposes only For further details please visit our Company s website www zkteco com User Manual ZKBot D1 Date November 2022 Doc Version 1 1 English ...

Page 2: ... of the machine unit equipment that personnel has read understood and followed the safety instructions contained in the manual In case of any conflict between terms and conditions of this manual and the contract specifications drawings instruction sheets or any other contract related documents the contract conditions documents shall prevail The contract specific conditions documents shall apply in...

Page 3: ...he machine unit equipment malfunctions due to any non compliance of the instructions contained in this manual ii in case of operation of the machine unit equipment beyond the rate limits iii in case of operation of the machine and equipment in conditions different from the prescribed conditions of the manual The product will be updated from time to time without prior notice The latest operation pr...

Page 4: ... have been determined for independent research and development of biometric verification procedures and the productization of biometric verification SDK which was initially widely applied in PC security and identity authentication fields With the continuous enhancement of the development and plenty of market applications the team has gradually constructed an identity authentication ecosystem and s...

Page 5: ...iption Button or key names for devices For example press OK Window names menu items data table and field names are inside square brackets For example pop up the New User window Multi level menus are separated by forwarding slashes For example File Create Folder Symbols Convention Description This represents a note that needs to pay more attention to The general information which helps in performin...

Page 6: ...S FOR USE 10 4 1 INTRODUCTION TO ROBOT 10 4 2 USE OF BACKGROUND MANAGEMENT SOFTWARE 11 4 2 1 NAVI MODE 11 4 2 2 BUILD MODE 12 4 2 3 POSITION 13 4 2 4 VIRTUAL WALL 14 4 2 5 SPECIAL AREA 14 4 2 6 MODIFY MAP 15 4 2 7 MAP 16 4 2 8 UPGRADE 16 4 2 9 DEBUG 17 4 3 NAVIGATION DEPLOYMENT 17 4 3 1 NETWORK SETTINGS 18 4 3 2 BUILD MAP 19 4 3 3 VIRTUAL WALL 23 4 3 4 POSITION 24 4 3 5 START DELIVERING 26 5 DAILY...

Page 7: ...void falling and damaging the robot don t not use it near escalators stairs or steps 8 When using all glass doors and walls please pay attention to stick a safe and identifiable sign between the glass and the ground between 22cm to 25cm 9 To prevent injuries to people or damage to the robot from the operation of the robot people should remain a safe distance from the robot 1 meter away from the ro...

Page 8: ... power cord with wet hands or pull out the charging pile by pulling the power cord 6 Prevent the charging pile from being drenched by rain liquid and damp 7 If you do not use the robot for a long time it is recommended that you charge the robot every 15 days or so to ensure that the battery is always in the best active state 8 Do not use this batteries for other devices 9 Do not try to touch the c...

Page 9: ...t Its major goal is to increase restaurant productivity and profitability while reducing the labour intensity of restaurants waiters 2 Component Overview Number Component 1 7 inch Display 2 Microphone 3 Smart Lighting 4 Lidar 5 Depth Vision Camera 6 Infrared Sensor 7 Automatic Charging Contacts 8 Emergency Stop Switch 9 Infrared Camera 10 Continue with one Click 11 Power Switch ...

Page 10: ...dius 360 Avoiding Obstacle Swing Radius 254mm Navigation Method Laser Navigation Visual Positioning Visual Obstacle Avoidance Lidar Laser wavelength 905 nm working area 270 Infrared Camera Two dimensional code positioning the height of the two dimensional code from the camera is 1 to 3m or 1 to 5m 5 million pixels 3D Camera Recognition Range 45 degrees up and down 58 degrees left and right Communi...

Page 11: ...ine s internal test indicator will light up and wait for the machine to turn on 2 Shutdown Press and hold the Power On Off button for about 3 seconds the screen will turn off first and then the robot will power off 3 Charging The DC plug needs to be inserted into the automatic charging pile and then the adapter plug is inserted into the voltage of 110 to 220V At this time the green light of the ch...

Page 12: ...rned ON Note The router network segment cannot be the 192 168 10 x network segment and it is recommended to use uppercase for network names 2 Navi mode DRAG DROP This mode allows you to zoom pan and rotate the map 3 Navi mode NAVI Click this button you can click and drag any area on the map where the robot can walk and the robot will walk to the specified location 4 Navi mode CHARGE Click this but...

Page 13: ...build a map according to the method of unlabeled map construction When the machine passes through the place where objects are added or reduced it will be automatically recorded on the map The picture below is an example Before Incremental Mapping After Incremental Mapping 4 2 2 Build Mode ...

Page 14: ...ble range on the map to start planning a fixed route on the map for the machine to navigate 3 Position MEASURE Click any two points on the map to get the straight line distance between the two points 4 Position CUR POSITION Click this button to get the current position of the robot for punctuation 5 Position CHARGING PILE Place the charging shrapnel of the robot facing the shrapnel of the charging...

Page 15: ... draw irregular terrain 3 Virtual wall DRAW LINE Click two positions and a straight line is automatically drawn between the clicked positions It is often used for regular terrain or rough drawing of an approximate area 4 Virtual wall ERASER Circle the virtual wall you want to clear 5 Virtual wall SAVE Only click the Save button to save the drawn virtual wall 6 Virtual wall CLEAR ALL If you are not...

Page 16: ...p If an obstacle is missed during the scanning process or the map has changed after the scanning is complete and the change is minor you can edit the map using the edit map feature It is recommended to rescan the map if the map is too different from the actual environment 1 Modify map SAVE Changes to the map on this page must be saved before they take effect 2 Modify map CLEAR ALL Clear drawn poly...

Page 17: ... 7 Map In this mode you can modify the map name apply this map export this map and delete this map Hover the mouse to display the preview map and then Click to display the original map 4 2 8 Upgrade Tip We will upgrade to the latest version before the robot leaves the factory If you need to update the version later follow the steps below This version can be applied or deleted in this mode ...

Page 18: ...ade because the factory already has the most latest versions 5 Debug File Management 1 BIRTHDAY MODE Can upload mp3 wav files 2 CRUISE MODE Can upload mp3 wav files 3 ADVERTISE DISPLAY Can upload png jpeg webp jpg wav avi mp4 files 4 3 Navigation Deployment Note The following information is an introduction to all of the robot deployment background functions The functions that must be used are depi...

Page 19: ...re and click the robot model in the upper right corner of the main interface three times continuously And pull down from the top of the interface the navigation key will appear click the middle button of the navigation key that appears at the bottom of the screen to return to the main Android interface A Android Wi Fi Open the Settings WLAN on the Android screen of the robot to connect to Wi Fi B ...

Page 20: ...s to be drawn The purpose of the map is to let the robot understand the work environment The robot needs to scan the actual environment picture on the left to construct an original map picture on the right and the machine can find its own position by comparing it with the original map according to the real time scanning situation during the navigation process The scanning range of the lidar is the...

Page 21: ...also press the emergency stop switch and then artificially push the robot to create a map 2 Please select Build mode LASER MAPPING in the software interface After entering the mapping mode the robot turns around in place to clear the surrounding feature points and the speed should not be too fast You can push control the robot to go You can walk in a straight line in a narrow area You need to pay ...

Page 22: ...ure points and clean terrain as the starting point and ending point and slowly turn around in place at the beginning to scan the surrounding environment clearly While pushing or controlling the robot walk slowly and always observe whether the laser matches the terrain If there is a mismatch you need to stop and wait for the laser to match the current terrain After the robot reaches the endpoint ob...

Page 23: ...nsparent surface During the tearing process be careful not to drop the round spots or ring spots as shown in the Figure 5 Mapping Steps 1 Paste the QR code label 2 Obtain the navigation host IP from FTP and then enter it into the URL search bar of the browser and then display the following screen Double click the laser button on the upper left side of the figure Enter the laser setting interface a...

Page 24: ...tual wall To limit the active area of the robot and the red line in the figure below is the virtual wall Example 1 Glass Wall The laser can penetrate the glass so while drawing the virtual wall pay attention to draw the virtual wall outside of the glass Figure 6 Actual environment Figure 7 Map scanned by laser Figure 8 Error demonstration Figure 9 Correct demonstration ...

Page 25: ...Needing Attention 1 The minimum passing distance of the machine is 80cm so you need to pay attention while drawing a virtual wall 2 The main function of the virtual wall is to draw the activity space of the robot and separate the area where the robot does not want to travel with the virtual wall 3 Some areas that do not need to be driven or areas that cannot be scanned by lasers glass walls tables...

Page 26: ... for calibration For example The red dots 1 2 3 Product point Recycling point as shown in Figure 14 An example of calibration is shown in Figure 15 Figure 15 1 ROUTE After clicking this button click any point in the drivable range on the map to start planning a fixed route on the map for the machine to navigate such as Route1 in Figure 14 The route cannot pass through virtual walls and obstacles s...

Page 27: ...e map 1 2 3 to start the delivery The following is the explanation of the function of the app 1 Swipe from the right side of the screen to the left to perform more convenient operations as shown in the figure below 1 Go to charging pile Click this button and the robot will go to the charging pile for charging 2 Go to production point Click this button and the robot will go to the pick up window 3 ...

Page 28: ...me broadcast interval broadcast of the recycling process prompt for placing recyclables and prompt after placing recyclables D Birthday mode This mode can set the operating speed waiting time for meal taking prompt for delivery arrival prompt after taking meal and to select background music 9 Version settings In this setting you can view the version number of the current application 2 Select the T...

Page 29: ...ce during delivery The interface after reaching the target 4 Charge 1 After the robot is turned ON it will return to the charging pile to charge when it is lower than the set value during the working hours until it is fully charged 2 When the robot starts to charge as shown in the interface status in the figure below If you put your hand on the touch sensing area on the top of the robot the machin...

Page 30: ...al_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 syste...

Page 31: ...to the machine and the machine does not start navigation Reason 1 Check whether the charging pile button is used to calibrate the charging pile after the machine is connected to the charging pile 2 Check whether the charging pile target is close to an obstacle or virtual wall Solution 1 Please refer to the calibration method of the charging pile in Calibration Position 2 There should be no obstacl...

Page 32: ...served 5 During the scanning process of the robot you need to pay attention to some irregular objects such as the trapezoidal bar as shown in the figure below While building a virtual wall later you need to refer to the actual contact position of the robot with the object etc ...

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