Manual CZSXDP czfollow User Guidance Version1.0 Basic use 1. Switch machine operation 1.1 Main power switch There is a main power switch at the bottom of the machine, which is located next to the universal wheel on the right side of the machine, and is used to disconnect the battery power. It is closed by default at the factory, and you need to manually turn the switch to the open state when you use it for the first time. waterdocs.pages.yunjichina.com.cn/user_manual/exports/⽔滴2使⽤说明V0.9.6.
Manual 1.2 Boot Long press the power button, the buzzer will beep twice, and when the third beep becomes a long beep, release it and wait for the machine to turn on. Power Button 1.3 Shutdown Long press the power button, the buzzer will beep for seven short beeps, release when the eighth beep becomes a long beep, and wait for the machine to shut down. Shut down through the shutdown button at the bottom of the monitoring page. Shut down by calling the chassis shutdown interface. waterdocs.pages.
Manual 2. Machine charging 2.1 Placement of charging piles The charging pile needs to be placed on the wall, and there should be no other objects on the two sides of the center of the charging pile. The charging pile needs to be placed on a flat ground, not on a slope or carpet. The height of the charging piece of the charging pile needs to be kept at the same height as the charging contacts on the machine.
Manual When using the charging cable to manually charge, the chassis does not perform movement tasks. After the task is issued, the task will directly fail. Pay attention to remove the hand charging cable and put back the side cover of the machine before sending the task. 2.
Manual Note: The charging pile indicator has only two states: green The charging pile is energized and does not touch the device for charging The charging pile is charging and the power of the machine is above 90% red The charging pile is energized and contacts the equipment to be energized, and the power of the machine is less than 90% When the machine is charging, the light strip will change to breathing state. This phenomenon also exists when charging when the machine is turned off.
Manual White breath: charging; White flashing: press emergency stop; Tool use 1. Establish communication 1.1 Wireless communication-WiFi The machine has a built-in wireless router. By viewing the WiFi list, select the name yunji_WT_xxxxx (the last five digits represent the last five digits of the machine number), and the default password is yunjiwater . Make sure that the current device’s wireless network card is not configured with a fixed IP. Connect to WiFi to indicate connection success.
Manual 2.1 Monitoring page 2.1.1 Status bar The upper left corner of the monitoring page is the status bar, from left to right are Map name/floor: The map name and floor information used by the current machine. If the map is shared by the cloud, green brackets will be displayed behind, and the unique ID code corresponding to the cloud map will be displayed inside.
Manual Field value idle running Explanation Indicates that the robot service has not received any movement instructions since it started. Indicates that the robot is going to move_target and will refuse to accept new move instructions at this time. succeeded Indicates that the mobile task has been successfully completed. failed Indicates that the move task has failed. canceled Indicates that the move task has been cancelled. leave_charging_pile Leaving the charging pile.
Manual Laser: After selected, the real-time data of the current machine laser will be displayed on the page, and the status of the laser data as a red dot or line is displayed on the page; Correction : After selecting, you can manually operate on the page to correct the position of the machine to a suitable position; Punctuation : After selecting, you can add a point at any position in the page for subsequent sending tasks to move the machine to the target point; Add forbidden line : After selected, you ca
Manual 1. When correcting, first find the actual position of the current machine on the map corresponding to the position on the map; 2. Select the correction button in the operation bar; 3. Place the mouse at the real location of the machine on the map, keep the mouse or touchpad pressed, and don't release it; 4. At this time, a copy of the laser data of the current machine will be displayed on the page, which is dark purple. You can adjust the angle by sliding the mouse or touchpad; 5.
Manual Method of deleting/editing points: Double-click the green triangle representing the point on the map, an edit box will pop up, click Delete to remove the point, or fill in the information that needs to be modified, and click the OK button. Use the interface to calibrate the point at the specified location on the map or the current position of the machine.
Manual the point, and will not perform other redundant operations. The point outside the elevator, if the elevator IOT is Outside the elevator 3 installed in the The elevator point machine use needs to enter the environment, number of the the point with corresponding attribute 3 elevator module. needs to be The elevator calibrated module number outside the Numbering will be explained elevator by the staff during entrance, and installation.
Manual point 3 to point internal and 4 in the external numbers elevator. The of the elevator position of need to be one to attribute 4 one. between different floors should be as consistent as possible with respect to the position of the elevator! Gate point 7 When the gate Gates & electronic & electronic gates need to be gate marked with the communication corresponding id module is of the control installed in the ID module in the machine use point.
Manual control electronic door is equipped with two control panels, and the entrance and exit are controlled in different directions, the one-way control function needs to be turned on. Elevator waiting Elevator waiting point 8 point. If there is The elevator point only one needs to enter the elevator on site, number of the this point can corresponding be omitted. If elevator module.
Manual same time, the the charging pile corresponding does not support number of the it. Just fill in this charging pile parameter. point needs to be input (if the charging pile supports it). The charging pile number will be marked on the charging pile. If the number is filled in incorrectly, the machine will not be able to automatically correct to the correct position during charging.
Manual other machines in the narrow area, the current machine will be in the narrow area. Wait for the point to wait. Reference for the use of narrow areas: narrow areas Deceleration point 76 In the When the machine deceleration enters the vicinity zone, the point of the deceleration with an attribute of 76 is the proportion point, the speed will be reduced to deceleration the percentage of point. If there is the current full a ramp or road speed.
Manual at an angle of 90°. As shown below. The default deceleration width of the deceleration point is 50cm before and after the point, such as the position of the blue arrow. The deceleration distance can be configured in the point properties. Each point needs to be set with a different name, even if the floor is different, if it is the same, the previous point will be covered. It is recommended to use floor plus room name or floor plus other style signs. 2.1.2.2.
Manual Elevator waiting point: When there are multiple devices on site and there is only one elevator, you need to calibrate the No. 8 attribute waiting point on different equipment at different locations outside the elevator. When there is one device in the elevator, other devices wait in the No. 8 waiting point. The elevator is free. In other cases, there is no need to calibrate the 8th point.
Manual After selecting the forbidden line function, use the mouse to click in the interface to select the starting point, and continue to click elsewhere. The two points will be connected to form a line, which can be clicked repeatedly to form a continuous line. Click the wrong position or click the right mouse button after the pull is complete to bring up the operation menu.
Manual automatic doors and normally open doors.
Manual restricted door should not be opened except under restricted area behind the area special circumstances; area reason door, others (the 2. There is a drop risk area behind the reason should be door; 3. The door stated in the should be closed when scanning the remarks) picture, this area is the gray area in the picture 2.1.2.
Manual 2.1.2.7 Global Path In the task state, after selecting the global path button, the planned path from the current machine position to the target point will be displayed on the page in real time. If it is not displayed, it may be obstructed by obstacles between the machine reaching the target point, making it impossible to plan a driving path. The global path will only be generated in the task state, and the path will not be displayed even if it is selected in the non-task state. 2.1.2.
Manual The basic information shows the current chassis network information, and the specific explanation is: Field Explanation broadcast Broadcast address of current network port IP IP address of current network port netmask Current network port network mask DNS Current network port DNS gateway Current network port gateway The DHCP function is used for the chassis to share the network to other network ports to connect to the device.
Manual 2.1.3.2 Restart the software After clicking and confirming, the chassis software system will be restarted. When restarting, all tasks that the machine is executing will be cancelled, and it will take 30-50 seconds to restart. During this period, the monitoring page will refresh to reconnect to the chassis. Do not restart the software during the software upgrade process, it may cause the software to fail to start normally! 2.1.3.
Manual If the hardware needs to be updated after the software update, it will be updated automatically. If the power board program update is involved, the whole machine will be automatically restarted after the update. If a task is received during the firmware update, the machine will not move, and the task will be automatically cancelled when the whole machine restarts. Do not perform software restart, power-off restart, power-off shutdown and other operations during the software or hardware upgrade process.
Manual Diagnostic Features item Motor board Peripheral board Routing board The chassis motor control module is used to drive the motor to move. An integrated module that contains other communications or functions. Chassis 4G and WiFi module. The success rate displayed in the diagnosis item is calculated from the number of successful diagnosis/total number of diagnosis after the software is started, and does not affect the current machine status.
Manual In the configuration management page, you can configure the parameters of the machine. The configurable parameters and descriptions are as follows: parameter Description name When there are more than two machines in the same venue, the location sharing Location sharing function must be turned on, and multiple machines will synchronize their positions to each other.
Manual parameter Description name When the target position is occupied or other reasons cause it to reach the Point-topoint angle tolerance vicinity of the target point but cannot accurately adjust its orientation, the task is considered successful if the robot moves to within this angle range of the corresponding point. Setting this parameter to a small value can improve the accuracy of the arrival point, but correspondingly will reduce the efficiency of the arrival point. Default: 0.
Manual parameter Description name Take the elevator number Emergency stop deceleration After the elevator is deployed normally, this item will be displayed after the elevator point is calibrated on the map. The machine can take the elevator normally only after selecting the elevator that the machine will take in the later stage. When an emergency stop is triggered, the time from the moving state to the stopping state of the machine is calculated based on the negative acceleration.
Manual Charging voltage: it will be received only in the charging state, which is the voltage of the charging pile. Battery voltage: The current battery voltage, the non-charging state will gradually decrease. Battery current: The current consumption of the device. It is a positive number when charging and a negative number when discharging. Host current: Current consumption of the current device host. Motor board current: the current consumption current of the device motor.
Manual 2.1.3.8.2 Motor status The motor status displays the current operating status of the equipment motor. Under normal conditions, all fields are the same false . When an abnormality occurs, it will change to true and the background color will turn red. The soft and hard emergency stop will also trigger the page status change -> soft_estop, hard_estop, and also motor_free_error will trigger the change. At this time, just release the emergency stop to recover, it is not an abnormal state. 2.1.3.
Manual The test tool function is only used to assist in the test. Please be careful not to conflict with the task when sending the mobile task . Please make sure that the mobile test is over when you exit the page, or you can click to end all mobile tasks. There are buttons in the characters under the yellow background above , which can cancel all moving tasks.
Manual 2.2 Mapping tools 2.2.1 Switch map The switch map is the created map. After the map is created, the machine needs to switch the current map to the new map through the switch map function. Select the map name to be switched, and click the 设置地图 button after the current machine is located to switch. The software restart operation will be performed when the map is switched, and you need to wait 30~50 seconds for the restart to complete.
Manual Mode: current operating mode, optional: scanning tool, retouching tool, punctuation Map name: The name of the currently modified map Floor: the currently modified map floor Download: The current map image can be downloaded to the local in png format Retouching tools: Straight line: Straight lines can be drawn on the map. It is only used when there are walls or fixed obstacles that have not been swept while building the map.
Manual If the site involves taking an elevator, you need to scan three-dimensional floors, just fill in the same map name and create different floors. When creating a new map or rescanning the map, you need to choose according to the size of the site environment: three resolutions: large, medium, and small, respectively corresponding to the area: within 3600㎡, 3600㎡~10000㎡, and above 10000㎡.
Manual The data record file will be generated when the map is created, and the data file will not be shared to other machines through the cloud. Therefore, only the map created by the current machine and the mapping data file can be scanned continuously. If the map is downloaded from the cloud, the map cannot be scanned continuously! If the current map supports continuous scanning, there will be a continuous scanning button in the upper right corner.
Manual The upper window of the page is the upload function, which is used to upload the map of the robot body to the cloud. The map option below is a list of maps that already exist in the current machine. Select the name of the map that needs to be uploaded to the cloud. This is a single choice. Only one map can be uploaded at a time. The floor options below are the floor lists of the current map. By default, upload all is not selected. You can also upload a floor individually.
Manual The window at the bottom of the page is the download function, which is used to download the cloud map into the robot. Select other machines or the name of the location when uploading the map before, select the name of the map to be downloaded below, and click Download to download the cloud map to the local. When downloading a cloud map to the local, if a local map with the same name already exists, all data (maps, points, forbidden lines, areas, etc.
Manual At the top of the page is the detailed information of the current machine binding location, and the content can be edited in the cloud platform service location. 2.2.4.2 Upload to service location The middle window of the page is the upload function, which is used to upload the robot map to the service location. The map option below is a list of maps that already exist in the current machine. Select the name of the map that needs to be uploaded to the cloud. This is a single choice.
Manual is successful, the upload is complete. If there are other prompts, you can click again to start uploading and try again. The corresponding map name in the location is unique. If the map name and floor are the same but the map scene is different, the previous map will be overwritten. Therefore, it is recommended to upload maps of different scenes in different locations, and do not upload maps of different scenes under the same location! 2.2.4.
Manual 3.1.1 4G card access to the network 4G SIM Card Hopper On the right side of the machine, the position of the laser slot (as shown above) is the 4G card slot of the router. The card slot is covered by a metal cover, fixed with a magnet, and can be easily removed by a suction cup. SIM card only supports Micro-SIM type, size: 15mm in length, 12mm in width, and 0.76mm in thickness.
Manual After establishing a connection with the chassis by establishing communication , you can access 192.168.10.1 or 192.168.10.9 open the router management page through a browser , as shown in the figure below. In addition to being used for network communication, the router also has other sensor functions in the machine.
Manual In this step, make sure to use the Scan in radio1 below, otherwise it will affect the normal routing connection! Select the SSID you want to connect to in the WiFi list page that jumps out, and click the corresponding Join Network button at the back. Fill in the WiFi password in the newly redirected page and click the Submit button in the lower right corner . waterdocs.pages.yunjichina.com.cn/user_manual/exports/⽔滴2使⽤说明V0.9.6.
Manual Drag to the bottom of the newly jumped page. If there are multiple APs in the live WiFi and the roaming function between multiple APs is involved, you need to delete all the content in the BSSID box on the page, and then click the Save & Apply button in the lower right corner . The routing will enter the countdown and start to configure the bridge WiFi. When the bridge is completed, it will be displayed Configuration has been applied and jump to the Network -> Wirless page.
Manual needs to use a different IP network segment from the ambient WiFi. At this time, the device connected to the master machine can only use the local area network. Access to the chassis router (slave), there is no way to access the devices under the slave. At this time, it is necessary to set the port mapping function on the slave machine, so that the devices under the master machine can directly access the devices under the slave machine through the IP on the slave machine.
Manual Internal port: mapping port, enter the port to be mapped. Such as: 9001, 31001 After configuration, click the rear add button to complete the configuration, and then click the Save&Apply button below to save the configuration and take effect. After forwarding, the access port and the mapped port should be as consistent as possible. After the configuration is complete, you can create a connection with the chassis by accessing the IP of the slave machine through the device under the master machine.
Manual Maintenance The following maintenance schedule outlines the regular cleaning and parts replacement process. Maintenance common sense In order to extend the life of the product, we warmly remind you: Keep the device away from humid and high temperature places. Avoid squeezing the device or hitting the device shell with sharp objects. Avoid long-term exposure to sunlight. Long-term sunlight will cause the plastic shell to age quickly. Keep the outer surface of the equipment clean.
Manual Unless otherwise specified for a specific product, keep the product away from liquids. Do not use sprays, bleach or abrasives. Do not spray cleaner directly onto the product. Regular inspection items Whether the equipment shell is loose and dirty. Check whether there is any foreign matter entangled in the wheels of the chassis and whether there is excessive wear. Whether the camera is clean and free of dirt. Whether the lidar cover is clean and free of dirt.
Manual to use them alone; for pregnant women, alcoholics, mental illness, heart disease, persons with limited capacity, such as persons with disabilities with apparent mobility restrictions, to use them. 7. Don't let others use your robot unless he has read this manual carefully. 8. Please do not use the power supply voltage beyond the specification, otherwise it is easy to cause the robot unable to start or fire and electric shock accidents. 9.
This device complies with part 15 of the FCC Rules. Operation is subject to the condition that this device does not cause harmful interference Any changes or modifications not expressly approved by the party responsible for compliance could void the user's authority to operate the equipment. NOTE: This equipment has been tested and found to comply with the limits for a Class B digital device, pursuant to Part 15 of the FCC Rules.
