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GAUSSIAN ROBOTICS Vacuum 40 Manual

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Vacuum 40 Deployment Manual
Technical Services and Operation & Maintenance Center | Kong Kailing | Oct. 2022

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Summary of Contents for GAUSSIAN ROBOTICS Vacuum 40

  • Page 1 Vacuum 40 Deployment Manual Technical Services and Operation & Maintenance Center | Kong Kailing | Oct. 2022...

  • Page 2: Revision Record

    Revision Record Revised Revision Reviewed Approved Approval Rev. Revised Content Date or not Date V1.5.0 Kong Oct. 2022 Oct. 2022 Kailing Yongqiang...
  • Page 3 Contents I. Unpacking and Acceptance II. Field Investigation 1. Unpacking and III. Complete Machine Deployment Acceptance IV. Charging Pile Deployment 2. Power-on Test V. Disinfection Backpack Deployment VI. Machine Commissioning VII. Solutions for Different Scenarios...

  • Page 4: Unpacking And Acceptance

    1. Unpacking and Acceptance Please examine the outer packaging, appearance and functions of the machine after receiving the package, take photos and keep them if there is any exception and contact a service representative and submit JIRA; Tools for unpacking: electric handheld drill (crosshead.M5) or cross screwdriver ①Unpack the parcel box and use ②...
  • Page 5 1. Unpacking and Acceptance ④ Place the wedge-shaped board next to ⑤ Remove the outer package of the machine, examine the vacuum’s the pallet and back the machine down to the appearance and contact the relevant department in time if the floor.
  • Page 6 1. Unpacking and Acceptance ⑥ Check the Sales and Shipping Documents and whether the accessories are complete, invite the customer to sign his/her name after verification and conformation; examine whether the Certificate of Compliance has been shipped along with the machine and make sure whether its information has any exception.

  • Page 7: Power-On Test

    2. Power-on Test (1) Turn off the air circuit breaker, turn on the vacuum with the (2) Enter the “admin” account and password, access the APP’s key and check whether the machine can start normally. main interface, check whether the screen and the menu are functional, and make sure the machine’s power state (please charge in time to ensure that the vacuum won’t be off during deployment if the battery is running low).
  • Page 8 Contents I. Unpacking and Acceptance II. Field Investigation 1. Field Investigation III. Complete Machine Deployment 2. Communication with the Client IV. Charging Pile Deployment 3. Solutions for V. Disinfection Backpack Deployment Common Environments VI. Machine Commissioning VII. Solutions for Different Scenarios...
  • Page 9 1. Field Investigation (1) Application in Different Scenarios ① Applicable scenarios: hard flat ground made of carpets and epoxy resin, marble, terrazzo, floor tiles and other materials. ② Inapplicable scenarios: basements, outdoor squares, community roads, glass floors and other large indoor and outdoor scenarios; and the ground with standing water, household food waste, etc.
  • Page 10 2. Communication with the Client (1) Operating area: observe the entire scenario with the client, take photos of or record the field conditions in the memo on the phone throughout the process, and output the following contents independently: ① Select the best mapping path; ②...
  • Page 11 3. Solutions for Common Environments Apply stickers under the following circumstances: Apply stickers 18-19cm above the ground for laser scanning is prone to miss black/highly reflective/transparent/fine obstacles (with the diameter of 2.5cm). Stickers...
  • Page 12 3. Solutions for Common Environments Fall prevention: apply infrared stickers to escalators (up/down), downward step ladders, and other areas with fall risks. Note: Rules for stickers: Apply them in alignment a. Real infrared stickers, with a set of 3 to 4 dots Replace damaged ones in time Check the abrasion of...
  • Page 13 Contents I. Unpacking and Acceptance II. Field Investigation 1. App Login III. Complete Machine Deployment 2. Mapping 3. Map Editing IV. Charging Pile Deployment 4. Creating paths V. Disinfection Backpack Deployment 5. Deployment Notes VI. Machine Commissioning VII. Solutions for Different Scenarios...
  • Page 14 1. App Login (1) Insert the key, turn it “ON” to start (2) Select admin user, enter password 123456, the machine and then log in to the APP’s interface...
  • Page 15 2. Mapping | Choosing a reasonable starting point (1) Select a reasonable starting point before mapping; (2) Turn the machine to a right direction (parallel or perpendicular to the main wall) before mapping to reduce jaggies in the map and improve the passability of narrow passages. (3) Start mapping at corners or places where surroundings are distinct as shown below, avoid mapping at places where features repeat as far as possible;...
  • Page 16 2. Mapping | Physical positioning Physically position the robot before mapping in the following scenarios: (1) Long corridors, symmetrical environments, and highly similar surroundings; (2) Some special terrains requiring the vacuum to operate in large circles; (3) Simple scenarios with many areas of distinct features not requiring compulsory closed-loop operations. Mark the left and right wheels (with tapes or markers) to physically position the robot within...
  • Page 17 2. Mapping | Accessing the mapping interface (1) Click the left button and select “Data Management”; (2) Click “Map Management” to access the mapping interface;...
  • Page 18 2. Mapping | Creating a map (1) Click “Scan a New Map”; (2) Click the “Start” button again; (3) Name the map; (Name the map as needed for client-friendly use) Note: ①Indicate the number of floor if there are multiple floors for client-friendly use ②...
  • Page 19 2. Mapping | Creating a map- path control Observe the mapping state through the tablet after starting mapping (1) Control the robot to move smooth and straight without curve paths, after starting mapping; (2) Make sure the robot rotates slowly in situ (with the angular speed less than 20°/s) and move straight when it rotates or turns;...
  • Page 20 2. Mapping | Creating a map- mapping tips Make sure closed-loop operations are conducted during mapping in the following methods: (1) Reasonably select a mapping path (small closed-loop operations at first and then large closed-loop operations); (2) Make sure the robot maps all places to be cleaned;...
  • Page 21 2. Mapping | Compulsory closed-loop operations (usually not required) (1) Move the robot to this position after mapping under the closed-loop Effects of closed-loop circumstance operations are as follows a. Jump to the next page if compulsory closed-loop operations are not required for the state of map is normal;...
  • Page 22 2. Mapping | Confirming/Saving a map Carry out a basic check and save a map after mapping: a. Try the compulsory closed-loop function (by reference to the pervious page) if obvious drawing overlapping exists at the end and the starting points b.
  • Page 23 2. Mapping | Checking a map’s quality (crucial) Examining a map’s quality Use the original map edit function to delete the part and extend mapping if any local error exists. Map the operating area again if distortion exists in the overall structure.
  • Page 24 2. Mapping | map extension Extend a map under any of the following circumstances: Add a new operating area which is not covered throughout the initial mapping (Make sure obstacles in the original map are complete even though lasers scanned the area) Significant changes in the environment occur, especially displacement of large obstacles caused by renovation and furniture rearrangement...
  • Page 25 3. Map Editing Map edit provides 13 buttons as follows: Virtual wall editing --Floor light editing Slope marker Original map editing Carpet area Deceleration zone Display area Highlighted area Elevator area Siren sounding area No fall risk area Temporary carpet area Temporary exhibition stand area Glass wall...
  • Page 26 3. Map Editing Definitions of edit buttons: Editing mode Description Shapes available Remarks Forbid the robot from passing, mainly use for marking areas where lasers fail to scan to Line Virtual wall avoid the robot accidentally colliding in the above areas and causing danger. Such as segment/polygon/cir Black line editing...
  • Page 27 3. Map Editing Definitions of edit buttons: Editing mode Description Shapes available Remarks Line Use the function only at a place where elevator control is equipped, that is, the place of Elevator area segment/polygon/ci Purple line cabin rcle Siren sounding The robot will continue to sound the siren when it reaches this area for warning - not Light brown Polygon...
  • Page 28 3. Map editing | Virtual wall editing Edit a virtual wall: create a virtual wall for isolation if there are glass walls/stools and other irregular/translucent/fragile objects, as well as steps. (1) Click “Reference Layer” and “Virtual Wall” to check the previously added virtual walls. (2) Drag the buoy to a suitable position on the touch screen, click “Add New Point”, move the buoy to the next target position and click...
  • Page 29 3. Map editing | Virtual wall editing Delete a virtual wall: Click the virtual wall that needs to be deleted and the red delete button on the upper right corner when the virtual wall changes from black to red, to delete the virtual wall. Select the virtual wall ...
  • Page 30 3. Map editing | Virtual wall editing Steps to draw virtual walls in special areas: In the case of glass doors, bosses and other scenarios whose profiles are hard to Keep the machine map, we shall resort to other ways to draw virtual walls: 10cm away from an obstacle (1) Walk next to an obstacle on the Teaching Mode and draw a path after...
  • Page 31 3. Map editing | Slope marker (1) The robot can intelligently identify a slope when moving up and down the slope. The user can design their own robot response logic, such as deceleration, based on robot application requirements. (2) Markers for an area shall be applied in the junction of the upslope or the downslope, and it is unnecessary to mark the entire slope;...
  • Page 32 3.Map editing | Original map editing (1) Box select to empty the selected area when modifying noise and obstacles on the original map; (2) Currently recommend to use “Empty the Area”, and forbid the use of “Fill the Area”, which can be substituted by virtual walls.
  • Page 33 3.Map editing | Highlighted area Steps to draw a highlighted area: Position: fixed and unchanging objects, such as pillars, walls and corners; Add a new point → connect the point to another point until the target is surrounded, Note: ① Don’t introduce other movable obstacles in highlighted areas; ② create a generate a highlighted area within the cyan box at the time, and click “Save All and Exit”...
  • Page 34 3.Map editing | Elevator area (1) Modify the map with the original map edit function if the elevator door or cabin has noise to ensure that noise doesn’t exist in the door or cabin (2) Include the entire elevator when drawing an elevator area based on the elevator’s profile, that is, four sides of A, B, C and D (3) Side A is the elevator door of which the middle shall not have noise, and the user can edit after mapping.
  • Page 35 3.Map editing | No fall risk area Deployment rules at a site with real fall risks: Separate an operating area of the machine and a falling area with a virtual wall which is drawn away from the falling area as far as possible (at least over 0.5m) No fall risk area...
  • Page 36 3. Map editing | Temporary carpet area (40 is temporarily not used) (1) The robot judges the conditions within a temporary carpet area when it reaches here, (2) The robot will trigger a mechanism to lift the corresponding equipment over the carpet when there is a carpet on the detection area.
  • Page 37 3.Map editing | Temporary exhibition stand area Please draw large areas (an exhibition stand with equal Temporary exhibition stand area: draw temporary exhibition side length >15m) according to the following steps stand areas for temporary placement of exhibition stands and Splice multiple temporary exhibition stand areas activity areas;...
  • Page 38 3.Map Editing | Glass wall (1) Noise may be generated and trigger obstacle avoidance when the robot operates against a glass or a solid wall. (2) The robot can intelligently filter irrelevant noise if a glass wall is drawn. Prompt: Draw both a glass wall and a virtual wall if there is an actual glass wall (within 10cm)
  • Page 39 3.Map Editing | Floor light area Draw a floor light area to avoid damage to floor lights and equipment if there are floor lights or pop-up floor boxes. (1) Select floor light edit, remind of positions, (2) Make the robot face floor lights, press choose “Matching”...
  • Page 40 4. Creating Paths (1) Plan a path after map editing: Click “Path and Point Management” to access the following interface; (2) Click “Add a New Path or Point” on the lower left corner to trigger a dialog on the right, click “Record a New Path”, access another selection interface, “Teaching Mode”...
  • Page 41 4. Creating Paths | Teaching Mode (40 is not recommended) (1) Click “Record a New Path” to trigger a pair of selections on the right, choose Teaching Mode; (2) Push the robot through areas to be cleaned, so that it will follow the operating path in its automatic mode.
  • Page 42 4. Creating Paths | Auto Cover (40 is not recommended) Auto Cover  Enter the path name  Manually push the robot to record a closed area  Save the recording The origin and end points must coincide at a point. The following two cases in which the coverage path recording is unfeasible shall be avoided.
  • Page 43 4. Creating Paths | Real-time Auto Cover (1) Enter the data management page and select "Path and point management". (3) Use two fingers to zoom in or out, rotate the square, or drag its four sides until it covers the area to be cleaned (the square can extend across walls and obstacles, which will not affect the generation of path) (4) Click the "Preview"...
  • Page 44 4. Creating Paths | Real-time Auto Cover (3) Click "Switch drawing mode" in the lower right corner; (1) Enter the data management page and (4) Create clean areas by dragging the floating button and adding select "Path and point management". points;...
  • Page 45 4. Creating Paths | Real-time Auto Cover and Virtual Wall Addition Artificial wall lines: Add a wall-follow command according to which Supported versions the robot will do the cleaning along the virtual wall. Hanting Version II, eco_decision version No.: t5.116.6, and How to enable: the hotel scene, this function is enabled by later versions...
  • Page 46 4. Creating Paths | Real-time Auto Cover and Virtual Wall Addition Set the distance from the virtual wall Click “data management -> settings -> advanced settings -> robot configuration -> view parameters -> strategy-> realtime_auto_cover-> safe_distance. Change the parameter to adjust the distance (unit: m) of the robot shell from the obstacle.
  • Page 47 4. Creating Paths | Creating new locations Point name Definition How to create Remark 2 Recommended to create Mark directly on the map, noting the arrow direction Be sure to communicate with the customer about the Landmark point Point to locate the robot which points to the front of the robot location to be created (ensure the location is stable, reliable and is easy to find)
  • Page 48 4. Creating Paths | Creating new locations (1) The colors of different types of points are different; (2) The workstation and the charging point cannot be used at the same time; (3) When the “Support initialization point” is selected, it needs to be built in the place where there exist characteristic values; In the elevator control scene, the landmark point shall be built at the entrance of the elevator on each floor;...
  • Page 49 4. Creating Paths | Combining new paths Click the "Combine paths" button - > Enter the name of the combined path - > Add cleaning paths - > Edit the order - > Save Note: At the end of each combination, a return-to-pile task needs to be added; If the robot and the pile are on the different floors, which makes such a task is unfeasible, a return-to-maintenance-point task shall be added.
  • Page 50 4. Creating Paths | Combine paths Cleaning mode configuration Select “Cleaning configuration” - > Cleaning mode, and complete the configuration of the two cleaning modes. (1) Enter the “Combine paths” interface, choose a combined path and adjust it, and select the cleaning mode in the upper right corner. (2) Click "Edit"...

  • Page 51: Deployment Notes

    5. Deployment Notes (1) Scanning and mapping • To avoid the drawing overlapping /deformation, the turn shall be made in a very slow speed (not higher than degrees/ second) during the scanning. • The scanning shall be performed from the small to the large closed loops (only one large closed loop is needed in simple scenes).
  • Page 52 5. Deployment Notes (3) Map editing • Be sure to draw virtual walls and highlight areas in the on-site deployment. ① The virtual wall shall surround the cleanable areas. ② The highlight area can be drawn at intervals of about 15~20 meters. Too many highlight areas are unnecessary. •...
  • Page 53 Contents I. Unpacking and Acceptance 1. Basic knowledge II. Field Investigation 2. Deployment III. Complete Machine Deployment requirements 3. Creating the charging IV. Charging Pile Deployment point through the app V. Disinfection Backpack Deployment 4. Verifying the VI. Machine Commissioning deployment VII.

  • Page 54: Basic Knowledge

    1. Basic knowledge (1) Automatic robot charging a. When the battery of the robot drops to 20%, the robot will automatically leave for the pile and charge itself. b. After a charging point is added to the combination task, the robot will automatically head for the pile and charge itself.

  • Page 55: Deployment Requirements

    2. Deployment requirements (1) The workstation is perpendicular to the ground, and no requirements shall be met for the wall surface with reflective stickers. (The reflective stickers on the car with a number that is and comes after 678 are supported by Lanhai Laser) The space with a footprint of 0.7 m on the left and right sides of the charging pile shall be reserved, and no sundry things are allowed in such a space.
  • Page 56 3. Creating the charging point through the app (1) Manually connect the robot to the charging pile: ensure that the positioning is accurate; make the back of the robot pointing directly to the charging pile (as shown in the figure below) so that the metal charging plates of the two are in close contact;...
  • Page 57 3. Returning to the main home screen 1 Floating window - select “Home” function: create detection-> click “Home” button-> add verification. If the current map is empty, the toast will display “the map of the robot is empty, please contact after-sales personnel”. 2.
  • Page 58 3. Creating the charging point through the app (2) Set the charging point: After the setting of the charging point is completed, the robot will automatically reach the pile and gets charged when the battery reaches 10%. ① User: admin; password: 314159 ②...
  • Page 59 4. Verifying the deployment (1) Set the combination task (only the charging point added to the combination task): After the following operations are completed, the newly created combination task can be executed to test the charging function of the pile. Note: 1.
  • Page 60 Contents I. Unpacking and Acceptance 1. Basic knowledge II. Field Investigation 2. Adding disinfectant 3. Running the deployment III. Complete Machine Deployment 4. Note IV. Charging Pile Deployment 5. Warnings and V. Disinfection Backpack Deployment troubleshooting 6. Start up and run VI.
  • Page 61 1. Basic knowledge (1) Ratio: hypochlorous acid disinfectant is recommended (2) Working time: 2 h (3) How to open the injection port: manually remove the atomizing nozzle Disinfectant instructions (4) How to inject liquid: After removing the atomizing nozzle, add a prepared disinfectant to the mist vent, and observe the height of the disinfectant to avoid an overflow due to too much disinfectant.
  • Page 62 2. Aromatherapy backpack (1) Aromatherapy solution is recommended...
  • Page 63 3. Running the deployment 1) Click Advanced parameters -> Scrubber/enable_mist_spray. This function is disabled by default, as shown in the figure below. (2) After the "scrubber/enable_mist_spray” is turned on or off, the robot shall be restarted manually to complete the configuration.
  • Page 64 3. Running the deployment (3) After the "scrubber/enable_mist_spray” is turned on, the "Spray" function in the cleaning mode interface shall be enabled. This function can be enabled or disabled in the manual/ automatic cleaning modes. (4) The "spray" function is enabled by default. (5) If the "spray"...
  • Page 65 4. Note (1) The spray system will work only when the "spray" function is turned on and the cleaning task is started. (2) The spray is not restricted by turns and speed, and the speed is kept constant (0.6L/H). (3) The "spray" function can only be in two states (on/ off). The amount and speed of spray cannot be regulated.

  • Page 66: Warnings And Troubleshooting

    5. Warnings and troubleshooting (1) The "scrubber/enable_mist_spray” function is enabled first, and then the "spray" function in the cleaning mode interface. If no disinfectant is added, a health warning will occur on the operation screen. (2) The "spray" function is enabled and the task executed. If the liquid level sensor detects that the level of the liquid is low, the spray system will stop.
  • Page 67 Aromatherapy function 1. In the cleaning configuration, the options of spray mode, and spray volume/ aromatherapy concentration have been added to different cleaning modes. 2. In the same cleaning mode, the sterilizing and aromatherapy functions cannot be enabled at the same time, that is, when the sterilizing function is enabled, the other is disabled, and vice verse.
  • Page 68 Extreme wall-follow cleaning (wall lines) 1. Curved-wall-follow cleaning: Because the map grids of the curved wall are not neat, Real-time Auto Cover may not cover all the areas. If there exists a long distance from the curved wall, then it is suggested to use the teaching path to cover the area.

  • Page 69: Starting Up And Running

    6. Starting up and running...
  • Page 70 Contents I. Unpacking and Acceptance 1. Preparation for II. Field Investigation commissioning III. Complete Machine Deployment 2. Confirm the cleaning IV. Charging Pile Deployment effect 3. Full-field test run V. Disinfection Backpack Deployment 4. Schedule tasks VI. Machine Commissioning VII. Solutions for Different Scenarios...

  • Page 71: Preparation For Commissioning

    1. Preparation for commissioning | Confirm the consumables The consumables of 40 vacuum cleaner are mainly divided into the following types: Side brushes, roller brushes, ordinary mop pads, dust bags and HEPA Before the test is started, it is necessary to ensure that the consumables are installed in place and according to the specifications, and thus can be used normally.
  • Page 72 1. Preparation for commissioning | Consumable threshold ① Click the "Menu" button at the bottom left of the main interface, and select the first item "Equipment status". (2) If the ground is made of marble, PVC, epoxy or other materials, and thus becomes smooth, the service life of the roller brush shall be set to 800, and the side and dust pushes to 500.
  • Page 73 1. Preparation for commissioning | Cleaning mode Click the "Menu" button in the lower left corner of the main interface to open the function menu. Then, click "Cleaning configuration".
  • Page 74 1. Preparation for commissioning | Cleaning mode For general ground, the basic parameters can be set as follows. Cleaning mode: Carpet cleaning → Side brush/ roller brush height: medium; suction power: enhanced; roller brush speed: high; cleaning speed: medium; dust push: lifted up; Mute dust push →...
  • Page 75 1. Preparation for commissioning | Adjustment of roller brush height • To achieve a good cleaning effect, it is recommended to adjust the "Roller brush height" to "high", and make the rubber just contact the ground or carpet when the roller brush goes down; •...
  • Page 76 2. Confirming the cleaning effect After the cleaning, the ground is clean and free of 40 is a vacuum cleaner and its suction power requires to be confirmed. trash which can be sucked normally. ① Perform the cleaning task manually, and litter (scraps of paper/ cigarette butts, etc.) can be dropped on the path.
  • Page 77 3. Full-field test run (1) Click "Cleaning configuration” to adjust the height of roller brush, side brush and dust push, suction power, and cleaning speed to normal values. Then click "Save" and exit. (2) If the area is too large, it’s recommended to reduce the suction power or stop the suction to shorten the time of the test run and ensure the battery life.
  • Page 78 3. Full-field test run (3) Cleaning mode Select the test run, then click “Automatic operation” to make the robot execute the tasks (all valid paths that have been created). (4) Running the outer circle can cover all the paths. Click “Skip” in the "Map view" interface if there is no problem. (5) When encountering problems, it’s recommended to take photos and record them in the phone, and deal with them (modify the virtual wall, redraw the path, reset the point, etc.) at a time later.

  • Page 79: Schedule Tasks

    4. Schedule tasks Ask the customers whether they need to schedule tasks before the product delivery. If yes, help them finish the setting. How to create scheduled tasks: 1. Select “Scheduled tasks” on the sidebar, click “Create”, and enter the interface of “Create tasks”.
  • Page 80 4. Schedule tasks Time: Set the time when the scheduled task is triggered Map: Select the map to perform the cleaning task Task: Select the task to be executed Repetition: Multiple modes are available (non- repetition, Monday to Friday, weekends, custom) Custom: Users can select the date when the scheduled task is to be executed...
  • Page 81 Contents I. Unpacking and Acceptance II. Field Investigation III. Complete Machine Deployment 1. Office building scene 2. Hotel scene IV. Charging Pile Deployment V. Disinfection Backpack Deployment VI. Machine Commissioning VII. Solutions for Different Scenarios...
  • Page 82 1. Office building scene| Path deployment rules (1) In the office building, generally Real-time Auto Cover path + teaching mode are needed; (2) If the width of the passage is less than m, the teaching mode path shall be selected; (3) Shown in the right figure is Wangjing SOHO: three Real-time Auto Cover areas (green areas) need to be built;...
  • Page 83 1. Office building scene| Treatment of the on-site environment The virtual walls shall be drawn for the following obstacles after the paths are deployed: Glass doors Flower pots, glass doors, turnstiles, floor lights, carpets (mostly in rainy days), tables and chairs, elevator entrances, stairs, etc To avoid danger, virtual walls...
  • Page 84 1. Office building scene| Treatment of the on-site environment (1) The floor guide is irregular, so a virtual wall is required; (2) The display stand is thin and frequently moved, so a virtual wall is required; (3) Dustbins and bulletin boards in the landings shall be partitioned off by virtual walls;...
  • Page 85 1. Office building scene| Treatment of the on-site environment Draw highlight areas Position: drawn where fixed objects lie, such as columns, walls, Draw highlight areas where etc. the columns and corners lie. Note: ① Highlight areas shall not include any movable obstacle; ②...
  • Page 86 2. Hotel scene | Select hotel mode For a hotel scene and M line Hanting version, the "Hotel" mode in the “Settings” shall be selected;...
  • Page 87 2. Office building scene| Path deployment rules For corridors in the hotel, Real-time Auto Cover is preferred. Deployment instructions Refer to the right figure • A Real-time Auto Cover task shall be created for each corridor. • The polygon of the task shall not include the area where elevator is located, so as to prevent the robot from straying into the elevator;...
  • Page 88 2. Hotel scene| Treatment of the environment (1) We shall ask customers about the fixed areas where they intend to put large flower pots, poster display stands, announcement boards, etc., and then draw virtual walls to partition them off. (2) The glass revolving door/ arc door in the hotel shall be separated by a virtual wall;...
  • Page 89 2. Hotel scene| Treatment of the environment (1) Dustbins or other obstacles that may exist in the elevator hall of the hotel shall be separated by virtual walls. Customers shall be informed to put them in a fixed place. (2) For the restaurant area of the hotel, daily dining time shall be determined and “Do not disturb”...
  • Page 90 2. Hotel scene| Treatment of the environment Draw highlight areas Position: drawn where fixed objects lie, such as columns, walls, etc. Note: ① Other movable obstacles shall not be included in the highlighted area; ② Only a few highlighted areas are required where the corners or columns are located in the hall of the hotel.
  • Page 91 2. Hotel scene| Treatment of the environment (8) During the scanning performed in the place with obvious features (such as the doorway in the hotel), the robot shall be slowly turned 270 degrees, so that the laser can scan all the features in the doorway. Then the robot shall be rotated to the original direction.
  • Page 92 2. Hotel scene| Treatment of the environment (12) It is necessary to draw a virtual wall around the outer glass wall of the cleaning area, so as to prevent the robot from entering this area when the position is lost. Note that the virtual wall shall not be placed too close to the glass wall.
  • Page 93 Keep Exploring Keep Innovating...

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