SEER SFL-MP10S User Manual
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SEER SFL-MP10S User Manual

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SFL-MP10S
User Guide
Shanghai Seer Intelligent Technology Corporation.
www.seer-group.com
AMR.AI

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Summary of Contents for SEER SFL-MP10S

  • Page 1 SFL-MP10S User Guide Shanghai Seer Intelligent Technology Corporation. www.seer-group.com AMR.AI...
  • Page 2 Revision History Version Date of Issue Description V1.0 2020.12 First edition Add gyroscope coordinate V1.1 2020.12 system, laser obstacle avoidance precautions For more information Please visit https://www.seer-group.com/ SMF-MP10S User guide V1.1 Shanghai Seer Intelligent Technology Corporation...
  • Page 3 If quoted, the source must be indicated, and this document shall not be quoted, abridged or modified contrary to the original intent. Shanghai Seer Intelligent Technology Corporation does not make any express or implied warranties for this document and its contents.

  • Page 4: Table Of Contents

    Contents 1. Foreword ........................... 1 1.1 Reading Tips ........................1 1.2 Use Prohibitions........................1 2. Safety ..........................2 2.1 Types of Safety Information ....................2 2.2 General Safety Precautions ....................2 2.3 Safety Instructions ......................3 2.3.1 Qualification Requirements for Personnel .............. 3 2.3.2 Running Safety ......................
  • Page 5 4. Start to Use ........................20 4.1 Accompanied Articles ....................... 20 4.2 Startup of Robot ....................... 20 4.3 Shutdown of Robot ......................20 5. Battery and Charging ....................... 21 5.1 Battery Parameters ......................21 5.2 Parameters of Charger...................... 22 5.3 Charging of Robot ......................24 5.4 Storage of Battery ......................
  • Page 6 9.1 Maintenance Instructions ....................58 9.2 Periodic Maintenance ....................... 59 9.3 List of Quick-wear Parts ....................65 9.4 Cleaning ..........................65 9.4.1 Floor Cleaning ......................65 9.4.2 Robot Cleaning ...................... 66 9.4.3 Laser Cleaning ....................... 67 9.5 Storage ..........................67 9.5.1 Storage of Robot ....................

  • Page 7: Foreword

    It is prohibited to turn in place on the ramp.  It is prohibited to carry people.  It is prohibited to run it with the load on the shell.  SMF-MP10S User guide V1.1 Shanghai Seer Intelligent Technology Corporation...

  • Page 8: Safety

    The robot can’t observe the descending stairs and potholes on the floor. ● Please mark the stairs and potholes as prohibited areas on the map. ● Please update the map in time. SMF-MP10S User guide V1.1 Shanghai Seer Intelligent Technology Corporation...

  • Page 9: Safety Instructions

    The operator shall inspect the condition of the robot before starting to ensure safe use. The inspection items shall include: Whether the wheel fasteners are tightened.  Whether the power system is normal.  Whether the emergency stop function is normal.  SMF-MP10S User guide V1.1 Shanghai Seer Intelligent Technology Corporation...

  • Page 10: Load Safety

    Do not park in open pits, underground passages, elevator shafts or other similar areas.  Do not park in the fire paths, stair openings and areas obstructing the passage of  firefighting equipment. SMF-MP10S User guide V1.1 Shanghai Seer Intelligent Technology Corporation...

  • Page 11: Safe Avoidance Range

    Do not put the battery pack in water or get it wet.  Do not touch the positive and negative poles of the battery pack with the metal shell  simultaneously. Do not short-circuit, overcharge or over-discharge the battery pack.  SMF-MP10S User guide V1.1 Shanghai Seer Intelligent Technology Corporation...

  • Page 12: Risk Assessment

    There is a risk of being impacted and jammed when transporting the load.  2.7 Environmental Safety 2.7.1 Noise The noise of SMF-MP10S is ≤70dB(A), which complies with EN12053 standard. SMF-MP10S User guide V1.1 Shanghai Seer Intelligent Technology Corporation...

  • Page 13: Scrap Disposition

    Disposal requirements: SMF-MP10S shall be disposed of by the user and the final scrap processor in accordance with the Law on Prevention and Control of Environmental Pollution by Solid Wastes of the People’s Republic of China. SMF-MP10S User guide V1.1 Shanghai Seer Intelligent Technology Corporation...

  • Page 14: Product Introduction

    3. Product Introduction 3. Product Introduction 3.1 Overview SMF-MP10S (Seer Mini Fork) is a laser SLAM mini automatic forklift. The product provides core map building, positioning and navigation functions to help users quickly realize various applications of mobile robots. This product is developed and manufactured by Shanghai Seer Intelligent Technology Corporation.
  • Page 15 Minimum radius of pivot steering 1035 Height of laser scanning 1800 Height of obstacle avoidance scanning Size of drive wheel Size of load wheel Track width (drive wheel) Track width (balancing wheel) Wheelbase SMF-MP10S User guide V1.1 Shanghai Seer Intelligent Technology Corporation...

  • Page 16: Coordinate System Of Gyroscope

    Refers to the z component of the quaternion (reserved, no need to be filled in) Refers to the w component of the quaternion (reserved, no need to be filled in) faceUP Refers to the orientation of the controller SMF-MP10S User guide V1.1 Shanghai Seer Intelligent Technology Corporation...
  • Page 17 Refers to the z component of the quaternion (reserved, no need to be filled in) Refers to the w component of the quaternion (reserved, no need to be filled in) faceUP Refers to the orientation of the controller SMF-MP10S User guide V1.1 Shanghai Seer Intelligent Technology Corporation...

  • Page 18: Main Labels

    3. Product Introduction 3.3 Main Labels 3.3.1 Precautions SMF-MP10S User guide V1.1 Shanghai Seer Intelligent Technology Corporation...

  • Page 19: Nameplate

    3. Product Introduction 3.3.2 Nameplate SMF-MP10S User guide V1.1 Shanghai Seer Intelligent Technology Corporation...

  • Page 20: Daily Maintenance Of Robot

    3. Product Introduction 3.3.3 Daily Maintenance of Robot 3.4 Configuration of Body SMF-MP10S User guide V1.1 Shanghai Seer Intelligent Technology Corporation...

  • Page 21: Operation Panel

    Key Switch Control the ON/OFF of the battery.  Start/Stop Button The robot will be started if it is pressed, and the green indicator will be normally on.  SMF-MP10S User guide V1.1 Shanghai Seer Intelligent Technology Corporation...

  • Page 22: Audio/Video System

    Note 2: The battery level is lower than the maximum value of Warning Percentage, Error Percentage, and Shutdown Percentage configured in the battery device (when the maximum value is -1, the effect will not be displayed). SMF-MP10S User guide V1.1 Shanghai Seer Intelligent Technology Corporation...

  • Page 23: Searchlight

    Battery life ≥ 8h Charging time 0-80%: 2h Charging method Manual/automatic (with automatic charging piles) Battery charge and discharge cycles > 500 times Operation Panel Emergency stop button √ Buzzer √ SMF-MP10S User guide V1.1 Shanghai Seer Intelligent Technology Corporation...
  • Page 24 When the robot runs along the virtual path, it will try to fit the path as much as possible, but repeatability is not guaranteed. That is, the robot can guarantee the SMF-MP10S User guide V1.1 Shanghai Seer Intelligent Technology Corporation...

  • Page 25: Software Functions

    (differential), peripheral expansion (roller, jacking, and latent traction) supported, and API interface etc. 5. Need to be used with a dedicated automatic charging pile of SEER. 6. Need to be used with a special camera. 7. Need to be used with A 3D camera in the peripheral extension to realize this function.

  • Page 26: Start To Use

    2. Press on the Start/Stop button for 2s, then release it, and wait a few seconds for the power indicator to turn off. 3. Turn the key switch counterclockwise to complete the shutdown process. SMF-MP10S User guide V1.1 Shanghai Seer Intelligent Technology Corporation...

  • Page 27: Battery And Charging

    Safety protection overcurrent, overtemperature, setting is shown in the short-circuit and balance battery instruction. Communication requirements RS485 Dimension (mm) 269mm*178mm*124mm (IP65) Predicted value, subject to Weight (Kg) About 10KGS the actual situation SMF-MP10S User guide V1.1 Shanghai Seer Intelligent Technology Corporation...

  • Page 28: Parameters Of Charger

    Balancing Balancing method Passive balancing 5.2 Parameters of Charger Please pay attention to the automatic and manual charging interfaces on the front and side of the robot. Automatic charging interface SMF-MP10S User guide V1.1 Shanghai Seer Intelligent Technology Corporation...
  • Page 29 5. Battery and Charging Manual charging interface Charging Curve Note: Please refer to the User Guide for SMF-MP10S Charging Pile for the usage and configuration of the charging pile. SMF-MP10S User guide V1.1 Shanghai Seer Intelligent Technology Corporation...

  • Page 30: Charging Of Robot

    The battery pack shall be stored in a clean, dry and ventilated environment, away from  fire or heat sources. When the battery pack is stored for a long time, it shall be charged and discharged once  a month. SMF-MP10S User guide V1.1 Shanghai Seer Intelligent Technology Corporation...

  • Page 31: Navigation And Control System

    Actuators  The actuators include motors, audio, DO, and the robot’s own state, etc., and finally realize the robot’s response to task instructions. SMF-MP10S User guide V1.1 Shanghai Seer Intelligent Technology Corporation...

  • Page 32: User Input Information

    On the map, the robot is expressed as a semi-transparent rectangle, and the point location and path are also displayed on the map. The robot model file defines the properties of SMF-MP10S User guide V1.1 Shanghai Seer Intelligent Technology Corporation...

  • Page 33: Global Path Planning

    The blue circle is the destination point, and the blue line is the path planned by the robot. SMF-MP10S User guide V1.1 Shanghai Seer Intelligent Technology Corporation...

  • Page 34: Local Path Planning

    When the robot is beyond the path, the local path navigation function will generate a route back to the path. SMF-MP10S User guide V1.1 Shanghai Seer Intelligent Technology Corporation...

  • Page 35: Task Planning And Action Planning

    Under the control of RoboShop, each navigation instruction can be accompanied by a task instruction. In the dispatching mode of the robot, each path can be accompanied by a task instruction. SMF-MP10S User guide V1.1 Shanghai Seer Intelligent Technology Corporation...

  • Page 36: Obstacle Detection

     Obstacle avoidance laser  3D laser (optional)  The following figure shows how the robot sees the environment and how it behaves in the robot system. Human Vision Laser Vision SMF-MP10S User guide V1.1 Shanghai Seer Intelligent Technology Corporation...

  • Page 37: Navigation Laser

    SMF-MP10S is equipped with a Pepperl + Fuchs R2000 laser (or SICK nanoScan3 Core). The main functions are as follows: Map scanning  Localization and navigation  Obstacle recognition  SMF-MP10S User guide V1.1 Shanghai Seer Intelligent Technology Corporation...
  • Page 38 6. Navigation and Control System 6.6.1.1 Detection Range Model Definition Parameter Detection distance SMF-MP10S θ Detection angle 360° Detection height 1800mm SMF-MP10S User guide V1.1 Shanghai Seer Intelligent Technology Corporation...
  • Page 39 Therefore, usually when the reflectivity of the background object is relatively high and the foreground object is close to the background object, laser noise is likely to be generated at the edge of the foreground object as shown in the figure below: SMF-MP10S User guide V1.1 Shanghai Seer Intelligent Technology Corporation...
  • Page 40 150, and the reflectivity of special diamond reflectors is more than 200. You can know the reflectivity of a laser point through the laser point color on Roboshop, as shown in the figure below: SMF-MP10S User guide V1.1 Shanghai Seer Intelligent Technology Corporation...
  • Page 41 For this reason, the robot will be unable to draw an accurate environmental map if there are too many objects with specular reflection in the environment, so that it can’t navigate stably and accurately. SMF-MP10S User guide V1.1 Shanghai Seer Intelligent Technology Corporation...

  • Page 42: Obstacle Avoidance Laser

    Note: The OLEI LR-1BS2L cannot be used for locating, so the useForLocalization check must be removed in the robot model file. SMF-MP10S User guide V1.1 Shanghai Seer Intelligent Technology Corporation...
  • Page 43 6. Navigation and Control System 6.6.2.1 Detection Range SMF-MP10S User guide V1.1 Shanghai Seer Intelligent Technology Corporation...
  • Page 44 In the stop district (default value 1m), the robot will stop when the laser detects an  obstacle. In Roboshop parameter configuration, you can modify this parameter by yourself.  SMF-MP10S User guide V1.1 Shanghai Seer Intelligent Technology Corporation...

  • Page 45: Localization

    The landmark should be a permanent structure that the robot can use to determine its own direction, such as corners, doorways, pillars and shelves. The robot must be able to detect static landmarks marked on the map in order to  approach its current location. SMF-MP10S User guide V1.1 Shanghai Seer Intelligent Technology Corporation...

  • Page 46: Motor Drivers And Motors

    The robot keeps adjusting how much power is sent to each motor based on sensory input. This means the robot can correct its speed when going up slopes or when carrying a heavier payload. SMF-MP10S User guide V1.1 Shanghai Seer Intelligent Technology Corporation...

  • Page 47: Debugging

    3. Open Roboshop and click the [Refresh] button on the [Homepage] or manually [Enter the IP] address as [192.168.192.5] to add the robot. 4. Find the robot with the IP address [192.168.192.5] in the robot list on the [Homepage] and click the button [Start Connecting]. SMF-MP10S User guide V1.1 Shanghai Seer Intelligent Technology Corporation...

  • Page 48: Map Building And Editing

    Open Roboshop Pro, and double-click the robot to enter the [Map and Control] interface after successfully connecting the robot.Click [Map Building] in the module toolbar, and all methods for [Map Building] will pop up. SMF-MP10S User guide V1.1 Shanghai Seer Intelligent Technology Corporation...
  • Page 49 Use the keys W (Forward), A (Left turn), S (Reverse), D (Right turn) on the keyboard for robot control to make the robot move in the scene, and click the [Finish Map Scanning] button in the upper right corner when you finish scanning the map. SMF-MP10S User guide V1.1 Shanghai Seer Intelligent Technology Corporation...
  • Page 50 Wait for the completion of the map building, and then click the [Save] button in the upper right corner. e. Select the desired path and enter the desired name in the pop-up interface to save the map. SMF-MP10S User guide V1.1 Shanghai Seer Intelligent Technology Corporation...

  • Page 51: Path Navigation And Obstacle Verification

    (point LM2), and the robot will reach the site; the direction of the robot to the point is consistent with the direction of the site, as shown in the figure below. SMF-MP10S User guide V1.1 Shanghai Seer Intelligent Technology Corporation...

  • Page 52: Establishment And Configuration Of Workstation (Ap) With Fork Action

    Establish the AP point on the shelf and place it in the daily work position. c. Configure the workstation. 7.4.1 Workstation (AP) The AP point is a workstation where the forklift has actions here, such as picking up, SMF-MP10S User guide V1.1 Shanghai Seer Intelligent Technology Corporation...

  • Page 53: Special Workstation (Cp, Or Charging Point)

    “dead end highway”, which means that the forklift drives in and out in two separate paths which are fixed in single direction (pay attention to the gap between the cargo and the shelf when running in an arch path to prevent collisions). SMF-MP10S User guide V1.1 Shanghai Seer Intelligent Technology Corporation...
  • Page 54 When the forklift works in the mode without recognition but with rich site space, the forklift may drive in and out the storage location in an arch path, as shown in the figure below: SMF-MP10S User guide V1.1 Shanghai Seer Intelligent Technology Corporation...

  • Page 55: Navigate The Path To Specified Point And Execute The Corresponding Action

    AP point on the map is the pickup location of the robot, a front point is required to set an entry height, and the location of AP point should be accurately set. SMF-MP10S User guide V1.1 Shanghai Seer Intelligent Technology Corporation...
  • Page 56 [Recognize] option; the robot will automatically go to the front point of AP35 to recognize and rise up the fork to the shelf height before entering and lifting; SMF-MP10S User guide V1.1 Shanghai Seer Intelligent Technology Corporation...

  • Page 57: Control The Rising/Dropping Of The Fork Via Upper Computer

    Click [Rise the fork] to rise the robot fork from the current location to the highest height; b. Click [Drop the fork] to drop the robot fork from the current location to the lowest height; SMF-MP10S User guide V1.1 Shanghai Seer Intelligent Technology Corporation...

  • Page 58: Recognition Function

    [Recognition File] - [Pull All]- Select [p001] in the [pallet] on the left to modify or right-click “Copy and add” to create a new one pallet, then modify the pallet parameters, and then click [Push All] to push the modified pallet recognition file to the robot. SMF-MP10S User guide V1.1 Shanghai Seer Intelligent Technology Corporation...
  • Page 59 AP3 to modify [Execution Object] to “fork”, and [Recognition Model File] to “p001.pallet” (the specific file is selected according to the actual situation), then save and push the map. SMF-MP10S User guide V1.1 Shanghai Seer Intelligent Technology Corporation...

  • Page 60: Material Cage Recognition

    “Copy and add” to create a new one material cage, then modify the pallet parameters, and then click [Push All] to push the modified material cage recognition file to the robot. SMF-MP10S User guide V1.1 Shanghai Seer Intelligent Technology Corporation...
  • Page 61 3. Click the “Path navigation”, move to AP3, click the left button, select the action AP3, check “Recognize” in the pop-up action box, and click Load to send the instruction. SMF-MP10S User guide V1.1 Shanghai Seer Intelligent Technology Corporation...

  • Page 62: Error Code

    7. Debugging 7.8 Error Code When the robot reports an error, you can find the corresponding error reason in the document according to the error code in Roboshop. https://docs.seer-group.com/robokit_netprotocol/688125 SMF-MP10S User guide V1.1 Shanghai Seer Intelligent Technology Corporation...

  • Page 63: Applications

    Rear location of the Perform secondary 3D camera (QR forklift, installation localization by recognizing the Percipio FM830-RI code recognition) orientation: QR code QR code to ensure accurate area connection of the forklift SMF-MP10S User guide V1.1 Shanghai Seer Intelligent Technology Corporation...

  • Page 64: Product Maintenance

    Before performing any maintenance, always remove the robot from the system and turn off the power supply for the robot to prevent the robot from moving suddenly when it receives the system instructions. SMF-MP10S User guide V1.1 Shanghai Seer Intelligent Technology Corporation...

  • Page 65: Periodic Maintenance

    Inspect the function of Collision test: Turn The function shall Every month, anti-collision bumper on the robot be normal troubleshoot or SMF-MP10S User guide V1.1 Shanghai Seer Intelligent Technology Corporation...
  • Page 66 Inspect the securing of Inspect visually: Normal Every month, the wheel Inspect whether the troubleshoot or wheels contact with displaced; compare whether manufacturer SMF-MP10S User guide V1.1 Shanghai Seer Intelligent Technology Corporation...
  • Page 67 It is must be recommended replaced. apply grease regularly; recommended replace it every 2 SMF-MP10S User guide V1.1 Shanghai Seer Intelligent Technology Corporation...
  • Page 68 Inspect the pipeline Inspect visually: It is Normal Every month, joints for leakage, recommended troubleshoot or looseness, cracks, replace the seals contact with deformation, or regularly every 12 damage months. manufacturer for assistance SMF-MP10S User guide V1.1 Shanghai Seer Intelligent Technology Corporation...
  • Page 69 Normal Every month; it connecting wire and terminal are rusted recommended to clean up the battery, then take rust prevention measures. Inspect whether the Inspect visually Standard value: Every month; tighten SMF-MP10S User guide V1.1 Shanghai Seer Intelligent Technology Corporation...
  • Page 70 9. Product Maintenance Maintenance Maintenance Maintenance Content Criteria Content Intervals connecting wire is loose 15N.m loose connecting wire timely to the specified value. Inspect the battery Measure with a Every month voltage multimeter SMF-MP10S User guide V1.1 Shanghai Seer Intelligent Technology Corporation...

  • Page 71: List Of Quick-Wear Parts

    Both the drive wheel and the universal wheel of the robot are made of polyurethane (PU), which will inevitably leave marks on the ground after long-term running. Epoxy Floor - Serious Traces SMF-MP10S User guide V1.1 Shanghai Seer Intelligent Technology Corporation...

  • Page 72: Robot Cleaning

    4. Install the shell and wipe it with a dry cloth. 5. If the dry cloth is still dirty after cleaning, dip a little alcohol to clean the surface until it is completely clean. SMF-MP10S User guide V1.1 Shanghai Seer Intelligent Technology Corporation...

  • Page 73: Laser Cleaning

    When the storage time exceeds 3 months, the preventive maintenance can be  performed according to the 500h (interval) requirement in this manual. SMF-MP10S User guide V1.1 Shanghai Seer Intelligent Technology Corporation...

  • Page 74: Storage Of Charger

    The charger can be stored for two years under this storage condition, and it must be tested again after two years. The charger must be powered on every three months, and the power-on time shall not  less than 0.5h. SMF-MP10S User guide V1.1 Shanghai Seer Intelligent Technology Corporation...

  • Page 75: Loading/Unloading And Transportation

    Follow the instructions below to load and unload the robot: When loading and unloading, please pay attention to the installation of the eyebolts and lifting tools in place. When transporting the robot, please use the original packaging materials. SMF-MP10S User guide V1.1 Shanghai Seer Intelligent Technology Corporation...
  • Page 76 According to the UN Dangerous Goods Transportation Regulation (UN 3171), the transportation of batteries must be subject to special transportation provisions. Compliance with such regulations requires special shipping documents, which will affect shipping time and costs. SMF-MP10S User guide V1.1 Shanghai Seer Intelligent Technology Corporation...

  • Page 77: Load Center

    11. Load Center 11. Load Center The figure below illustrates that the load center is 600mm at a full load of 500kg and a cargo height of 1m. SMF-MP10S User guide V1.1 Shanghai Seer Intelligent Technology Corporation...

  • Page 78: Software Update

    IP address (192.168.192.5 for wired connection, or corresponding IP for wireless connection) to access the robot upgrade interface. 4. Select the system upgrade, and carefully read the system upgrade steps. SMF-MP10S User guide V1.1 Shanghai Seer Intelligent Technology Corporation...
  • Page 79 6. Wait patiently for the software package to upload, as shown below: It may take a few minutes for the software package to be uploaded. Please ensure the stability of the network connection during this period. SMF-MP10S User guide V1.1 Shanghai Seer Intelligent Technology Corporation...
  • Page 80 9. Click the version information to view the relevant software version of the robot, as shown below: Notice: If it prompts that the upgrade fails, please try to upload again or contact our after- sales department for processing. SMF-MP10S User guide V1.1 Shanghai Seer Intelligent Technology Corporation...

  • Page 81: Appendix I Hydraulic Schematic Diagram

    Appendix I Hydraulic Schematic Diagram Appendix I Hydraulic Schematic Diagram Motor Return oil port Oil outlet Solenoid valve RV-06 Overflow valve CV-03 One-way throttle valve SMF-MP10S User guide V1.1 Shanghai Seer Intelligent Technology Corporation...

  • Page 82: Appendix Ii Electrical Schematic Diagram Of Smf-Mp10S

    Appendix II Electrical Schematic Diagram of SMF-MP10S Appendix II Electrical Schematic Diagram of SMF-MP10S SMF-MP10S User guide V1.1 Shanghai Seer Intelligent Technology Corporation...
  • Page 83 AMR.AI content to any third party without the permission of Shanghai Seer Intelligent Technology Corporation. Copyright© Shanghai Address: 1st Floor, Building 1, No. 151 Daxiu Road, Seer Intelligent Technology Corporation. All rights reserved. Tang Town, Pudong New District, Shanghai NO.SFL(MP10S)02V02-2012-EN...

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