SEER SFL-MP10S Bedienungsanleitung

Shanghai Seer Intelligent Technology Corporation.

www.seer-group.com AMR.AI

User Guide

SFL-MP10S

SMF-MP10S User guide V1.1 Shanghai Seer Intelligent Technology Corporation

Revision History

Version Date of Issue Description

V1.0 2020.12 First edition

V1.1 2020.12

Add gyroscope coordinate

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

Thanks for your purchase.

Only those who have received training and qualified correspondingly are allowed to use

this product.

This document includes precautions that shall be followed to ensure personal safety and

protect this product.

Disclaimer

All contents of this document have been verified and confirmed to be as accurate, reliable

and complete as possible, but there is no guarantee that all contents are consistent with

the product.

Technical data may be changed without further notice.

This document is copyrighted solely by Shanghai Seer Intelligent Technology Corporation

and may not be reproduced or distributed in any form by any organization or individual

without our written permission. 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.

Shanghai Seer Intelligent Technology Corporation reserves the right of modification and

final interpretation of the terms of this Disclaimer.

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 ........................................................................................................3

2.3.3 Load Safety..............................................................................................................4

2.3.4 Parking Safety..........................................................................................................4

2.3.5 Safe Avoidance Range .............................................................................................5

2.4 Battery Safety .....................................................................................................................5

2.5 Risk Assessment..................................................................................................................6

2.6 Residual Risk .......................................................................................................................6

2.7 Environmental Safety .........................................................................................................6

2.7.1 Noise........................................................................................................................6

2.7.2 Scrap Disposition.....................................................................................................7

3. Product Introduction.......................................................................................................... 8

3.1 Overview.............................................................................................................................8

3.2 Product Dimensions............................................................................................................8

3.2.1 Dimensions of Robot...............................................................................................8

3.2.2 Coordinate System of gyroscope ..........................................................................10

3.3 Main Labels.......................................................................................................................12

3.3.1 Precautions............................................................................................................12

3.3.2 Nameplate.............................................................................................................13

3.3.3 Daily Maintenance of Robot..................................................................................14

3.4 Configuration of Body.......................................................................................................14

3.5 Operation Panel................................................................................................................15

3.6 Audio/Video System .........................................................................................................16

3.6.1 Ambient Light ........................................................................................................16

3.6.2 Searchlight.............................................................................................................17

3.7 Technical Parameters .......................................................................................................17

3.8 Software Functions...........................................................................................................19

3.9 Network Requirements and Configuration ......................................................................19

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.............................................................................................................24

6. Navigation and Control System ........................................................................................ 25

6.1 System Overview ..............................................................................................................25

6.2 User Input Information.....................................................................................................26

6.3 Global Path Planning.........................................................................................................27

6.4 Local Path Planning...........................................................................................................28

6.5 Task Planning and Action Planning...................................................................................29

6.6 Obstacle Detection ...........................................................................................................30

6.6.1 Navigation Laser....................................................................................................31

6.6.2 Obstacle Avoidance Laser .....................................................................................36

6.7 Localization.......................................................................................................................39

6.8 Motor drivers and motors ................................................................................................40

7. Debugging ....................................................................................................................... 41

7.1 Connect the Robot............................................................................................................41

7.2 Map Building and Editing..................................................................................................42

7.3 Path Navigation and Obstacle Verification.......................................................................45

7.4 Establishment and Configuration of Workstation (AP) with Fork Action.........................46

7.4.1 Workstation (AP)...................................................................................................46

7.4.2 Special Workstation (CP, or Charging Point) .........................................................47

7.4.3 Work Path..............................................................................................................47

7.5 Navigate the Path to Specified Point and Execute the Corresponding Action .................49

7.6 Control the Rising/Dropping of the Fork via Upper Computer.........................................51

7.7 Recognition Function........................................................................................................52

7.7.1 Pallet Recognition .................................................................................................52

7.7.2 Material Cage Recognition ....................................................................................54

7.8 Error Code.........................................................................................................................56

8. Applications..................................................................................................................... 57

9. Product Maintenance....................................................................................................... 58

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 ...................................................................................................67

9.5.2 Storage of Charger ................................................................................................68

10. Loading/Unloading and Transportation........................................................................... 69

11. Load Center ................................................................................................................... 71

12. Software Update............................................................................................................ 72

Appendix I Hydraulic Schematic Diagram.............................................................................. 75

Appendix II Electrical Schematic Diagram of SMF-MP10S ...................................................... 76

1. Foreword

SMF-MP10S User guide V1.1 Shanghai Seer Intelligent Technology Corporation 1

1. Foreword

1.1 Reading Tips

Before using the robot, always read the User Guide carefully.

Do not disassemble or assemble the SMF-MP10S without authorization.

Please pay attention to the safety warnings involved in the User Guide.

If there is any abnormal problem with the robot, please contact the manufacturer promptly.

If you smell an unusual odor when using the robot, please stop the robot immediately, turn

it off and remove the batteries.

The User Guide is not a substitute for the Technical Agreement.

1.2 Use Prohibitions

It is prohibited to use it in an outdoor environment.

It is prohibited to use it in an environment that strongly interferes with navigation

equipment.

It is prohibited to use it in an environment full of dust, powder, and other explosive

hazards.

It is prohibited to use it in an environment with high salt content (marine climate).

It is prohibited to use it in extremely bad environments (extreme weather, cold storage,

and strong magnetic fields etc.).

It is prohibited to carry inflammable and explosive materials.

It is prohibited to carry liquid objects.

It is prohibited to run on uneven, obstructed or stepped ground.

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.

2. Safety

SMF-MP10S User guide V1.1 Shanghai Seer Intelligent Technology Corporation 2

2. Safety

Please read this section before starting and running SMF-MP10S.

Notice

●We will

not responsible for any problems caused by damage, replacement or

modification of SMF-MP10S or its accessories in any way.

●We will not responsible for any damages to SMF-MP10S, accessories or any other

equipment due to programming errors or faults.

2.1 Types of Safety Information

This document contains the following types of safety information.

Warning

●Indicates a potentially dangerous situation that may cause death or serious injury.

●Appropriate preventive measures shall be taken to avoid damage or injury.

Caution

●

Indicates a potentially dangerous situation that may cause minor or moderate

personal injury, or a prompt to avoid unsafe behavior.

●Appropriate preventive measures shall be taken to avoid damage or injury.

Notice

●Indicates important information, including conditions that may cause damage to

equipment or property.

2.2 General Safety Precautions

This chapter contains the general safety precautions.

Precautions for Robot Rolling Over

●If the load is not placed or secured correctly, the load may drop out or the robot may

roll over.

●Ensure that the load is placed and secured correctly according to the specifications.

See 11. Load Center.

Precautions for Personal Injury by Machine

●The high-speed slewing part of the vehicle body, such as universal wheels and driving

wheels, may cause personal injuries.

●Do not rely too much on the robot’s autonomous avoidance function. Please take the

initiative to avoid the robot.

Running Precautions

●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.

2. Safety

SMF-MP10S User guide V1.1 Shanghai Seer Intelligent Technology Corporation 3

2.3 Safety Instructions

2.3.1 Qualification Requirements for Personnel

SMF-MP10S shall be installed, debugged, operated and maintained only by qualified safety

personnel.

Mechanical Installation and Debugging

The personnel responsible for the mechanical installation and debugging shall have

professional knowledge and experience in related fields, and have sufficient experience to

assess whether the machine is in a safe running state after using protective equipment.

Electrical Installation and Debugging

The personnel responsible for the electrical installation and debugging shall have

professional knowledge and experience in related fields and have sufficient experience to

assess whether the machine is in a safe running state after using protective equipment.

Operation and Maintenance

The personnel responsible for the operation and maintenance shall have professional

knowledge and experience in related fields, be familiar with the application of protective

equipment on the machine and be guided by the machine user.

2.3.2 Running Safety

2.3.2.1 Safety of Running Environment

The ground shall be flat, and free from grooves, damages, pores, greasy dirt, glue or

other contaminants.

There shall be no foreign objects on the floor, such as screws, rags, gloves, and thread

cables that are easy to jam and entangle the wheels.

It shall run in excessively open areas (beyond the laser sensing distance), such as long

corridors.

A fully-loaded robot can only cross steps not higher than 0.5cm at low speed.

To pass through a narrow passage, a 10cm gap must be maintained between the

outermost side of the robot and the passage.

The sections of the work area shall be protected or marked with warning signs to

remind other personnel that robots are coming in and going out.

2.3.2.2 Running Inspection

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.

2. Safety

SMF-MP10S User guide V1.1 Shanghai Seer Intelligent Technology Corporation 4

Whether the load handling device is damaged (such as bent, cracked or worn).

Whether the warning device is normal.

Whether the ambient light is normal.

Whether the function of the laser sensor is normal.

Whether the battery level is normal.

Whether the charging function is normal.

2.3.2.3 Running on Ramp

Only run on the ramp meeting the performance parameters. Please refer to 3.7

Passability.

The upper and lower ends of the ramp shall be flat to prevent the load or robot from

touching the ground.

It is prohibited to turn around, run diagonally or stop on the ramp.

When the tractor is towing a trailer without a brake, the emergency braking shall not be

applied.

2.3.2.4 Running in Elevator or Lifter

Ensure that the elevator or lifter can bear the full weight of the robot and its load.

Ensure that no part of the robot is in contact with the car wall of the elevator or lifter.

Ensure that the robot would not move unexpectedly.

Ensure that the elevator meets the standard GB 7588-2003.

2.3.3 Load Safety

SMF-MP10S and its load shall not exceed the allowable range of the road surface.

The load carried must be reliably secured.

The load carried must be placed in the load center with certain anti-skid measures.

Please refer to 11. Load Center.

The weight of the load must be evenly distributed on two forks without partial load.

2.3.4 Parking Safety

When the robot stops running, shut down and cut off the power supply.

Do not park on the ramp.

Do not park near heat sources or fire sources.

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.

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