SFL-CPD15-T

User Guide

Shanghai Seer Intelligent Technology Corporation.

www.seer-group.com AMR.AI
Revision History

Version Date of Issue Description

V1.0 2021.01 First Version

V1.1 2021.04 Deleted relevant content of Moxa

V1.2 2021.05 Revised the environmental safety

Replacement of rear obstacle avoidance laser, selection &
V1.3 2021.09 replacement of PERCIPIO camera, and replacement of
nameplates

For More Information

Please visit https://www.seer-group.com/

SFL-CPD15-T User Guide V1.3 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 war-
ranties 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.

SFL-CPD15-T User Guide V1.3 Shanghai Seer Intelligent Technology Corporation

 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
2.3.2.1 Safety of Running Environment ........................................................................... 3
2.3.2.2 Running Inspection ............................................................................................... 3
2.3.2.3 Running on Ramp ................................................................................................. 4
2.3.2.4 Running in Elevator or Lifter ................................................................................ 4
2.3.3 Safety Rules for Manual Operations ..................................................................... 4
2.3.4 Load Safety ........................................................................................................... 5
2.3.5 Parking Safety ....................................................................................................... 5
2.3.6 Safe Avoidance Range .......................................................................................... 6
2.4 Battery Safety Warning ..................................................................................................... 6
2.5 Risk Assessment ................................................................................................................ 6
2.6 Residual Risk .................................................................................................................... 7
2.7 Environmental Safety ........................................................................................................ 7
2.7.1 Noise ..................................................................................................................... 7
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

SFL-CPD15-T User Guide V1.3 Shanghai Seer Intelligent Technology Corporation

 3.3 Main Labels....................................................................................................................... 11
3.3.1 Precautions ............................................................................................................ 11
3.3.2 Nameplate ............................................................................................................. 12
3.4 Body configuration ........................................................................................................... 13
3.5 Operation Panel ................................................................................................................. 14
3.6 HMI display screen ............................................................................................................. 15
3.6.1 Main interface .......................................................................................................... 15
3.6.2 General Information Display ................................................................................... 16
3.6.3 Basic information page ............................................................................................ 18
3.6.4 Control Interface ...................................................................................................... 21
3.6.5 Alarm box interface ................................................................................................. 23
3.7 Sound and light system ..................................................................................................... 24
3.7.1 Tri-color light ........................................................................................................ 24
3.7.2 Turn light............................................................................................................... 24
3.7.3 Searchlight ............................................................................................................ 24
3.8 Technical Parameters ........................................................................................................ 24
3.9 Software Functions ........................................................................................................... 26
3.10 Network Requirements and Configuration ....................................................................... 27
4. Start to Operation .......................................................................................................................... 28
4.1 Accompanied Articles ....................................................................................................... 28
4.2 Startup of Robot ................................................................................................................ 28
4.3 Manual driving (from the Operation and Maintenance Instructions for REBOT Battery-
powered Counter Balanced Forklift)................................................................................. 30
4.3.1 Introduction to Cab ............................................................................................... 30
4.3.2 Introduction to Manual Control Handle ................................................................ 30
4.3.3 Safety Features of Forklift .................................................................................... 31
4.3.4 How to drive a manually operated forklift ............................................................ 31
4.4 Shutdown of Robot ........................................................................................................... 32
5. Battery and Charging .................................................................................................................... 33
5.1 Manual charging of the robot ............................................................................................ 33
5.2 Automatic charging of the robot ....................................................................................... 36

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 5.3 Battery Product Performance Curve ................................................................................. 36
5.3.1 Discharging curves of different ratios ................................................................... 36
5.3.2 Discharging curve of different temperatures ........................................................ 37
5.3.3 Cycle Performance (1.0C/1.0C Charging/Discharging) Curve ............................ 37
5.4 Battery system parameters ................................................................................................ 38
5.5 Battery management system parameters ........................................................................... 39
5.6 Battery safety performance ............................................................................................... 40
5.7 Battery Storage .................................................................................................................. 40
6. Navigation and Control System .................................................................................................... 41
6.1 System Overview .............................................................................................................. 41
6.2 User Input Information...................................................................................................... 42
6.3 Global Path Planning ........................................................................................................ 42
6.4 Local Path Planning .......................................................................................................... 43
6.5 Task Planning and Action Planning .................................................................................. 44
6.6 Obstacle Detection ............................................................................................................ 44
6.6.1 Navigation Laser ................................................................................................... 45
6.6.1.1 Detection Range .................................................................................................... 46
6.6.1.2 Non-detection Zone............................................................................................... 46
6.6.1.3 Actions after Detecting the Obstacles ................................................................... 46
6.6.1.4 Characteristics and Operation Restrictions of Navigation Laser .......................... 47
6.6.2 Obstacle avoidance laser ....................................................................................... 50
6.6.2.1 Detection Range .................................................................................................... 51
6.6.2.2 Non-detection Zone............................................................................................... 51
6.6.2.3 Actions after Detecting the Obstacles ................................................................... 52
6.7 Localization ....................................................................................................................... 52
6.8 Driver and Motor .............................................................................................................. 53
7. Debugging ..................................................................................................................................... 54
7.1 Connection of Robot ........................................................................................................... 54
7.2 Map Building and Editing ................................................................................................... 55
7.3 Path Navigation and Obstacle Verification ......................................................................... 58
7.4 Setup and configuration of fork action AP workstation .................................................... 59
SFL-CPD15-T User Guide V1.3 Shanghai Seer Intelligent Technology Corporation
 7.4.1 Workstation (AP) .................................................................................................. 60
7.4.2 Special workstation (charging point (CP))............................................................ 60
7.4.3 Work Route ........................................................................................................... 61
7.4.3.1 With recognition and rich site space ..................................................................... 61
7.4.3.2 Without recognition but with rich site space ........................................................ 61
7.4.3.3 Small site space (with or without recognition) ..................................................... 62
7.5 Navigate the Path to Specified Point and Execute the Corresponding Action.................. 62
7.6 Upper computer controls the rising/dropping of forklift .................................................. 64
7.7 Recognition ....................................................................................................................... 64
7.7.1 Pallet Recognition ................................................................................................. 64
7.7.2 Material Cage Recognition ................................................................................... 67
7.8 Error Code ......................................................................................................................... 69
8. Application .................................................................................................................................... 70
8.1 Optional Parts for External Module .................................................................................. 70
9. Product Maintenance..................................................................................................................... 71
9.1 Maintenance Instructions .................................................................................................. 71
9.2 Regular Maintenance ........................................................................................................ 71
9.2.1 Regular Replacement of Critical Safety Parts....................................................... 71
9.2.2 List of Forklift Oils ............................................................................................... 72
9.2.3 Maintenance List ................................................................................................... 72
9.3 List of Wearing Parts and Major Components .................................................................. 75
9.4 Forklift Repair ................................................................................................................... 75
9.4.1 Diagnosis ............................................................................................................... 75
9.4.2 Preparation before Repair ..................................................................................... 77
9.4.3 Inspect the hydraulic oil level ............................................................................... 77
9.4.4 Inspect the brake fluid level. ................................................................................. 78
9.4.5 Preparation before usage after maintenance: ........................................................ 78
9.5 Cleaning ............................................................................................................................ 78
9.5.1 Floor Cleaning....................................................................................................... 78
9.5.2 Robot Cleaning ..................................................................................................... 79
9.5.2.1 Clean the forklift surface....................................................................................... 79
SFL-CPD15-T User Guide V1.3 Shanghai Seer Intelligent Technology Corporation
 9.5.2.2 Clean the chain. ..................................................................................................... 79
9.5.2.3 Cleaning of Electrical System ............................................................................... 79
9.5.2.4 After cleaning ........................................................................................................ 79
9.5.3 Laser Cleaning ...................................................................................................... 80
9.6 Storage .............................................................................................................................. 80
9.6.1 Storage of Robot ................................................................................................... 80
9.6.1.1 Operations to be completed before storage ........................................................... 80
9.6.1.2 Measures to be taken during storage ..................................................................... 81
9.6.1.3 Carry out test run again. ........................................................................................ 81
9.6.2 Charger Storage..................................................................................................... 81
10. Specification of Effective Loads ................................................................................................. 82
11. Software Update .......................................................................................................................... 83
Appendix I Schematic Diagram of SFL-CPD15-T Hydraulic System ............................................. 86

SFL-CPD15-T User Guide V1.3 Shanghai Seer Intelligent Technology Corporation

 1. Foreword

1. Foreword

1.1 Reading Tips

CPD, robot and forklift that appear separately in this document are abbreviations of SFL-CPD15-T.
Before using the robot, always read the User Guide carefully.
Do not disassemble or assemble the CPD 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 abnormal odor when using the robot, stop it 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.
 It is prohibited to run on the ground with oil and water.

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 2. Safety

2. Safety
Please read this section before starting and running CPD.

Notice
 We will not responsible for any problems caused by damage, replacement or modifi-
cation of CPD or its accessories in any way.
 We will not responsible for any damages to CPD, 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 per-
sonal 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.
Please refer to the 10. Effective Load Specifications.
Precautions for Personal Injury by Machine
 The high-speed slewing part of the robot 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.

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 2. Safety

2.3 Safety Instructions

2.3.1 Qualification Requirements for Personnel
CPD 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 ma-
chine 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 ma-
chine 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 smooth, and free from any grooves, breakage, cavities, water stains, oil, 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.
 Whether the load handling device is damaged (such as bent, cracked or worn).
 Whether the warning device is normal.

SFL-CPD15-T User Guide V1.3 Shanghai Seer Intelligent Technology Corporation 3

 2. Safety

 Whether the tricolor light is normal.

 Whether the HMI display screen is normal.
 Whether the function of the laser sensor is normal.
 Whether the battery level is normal.
 Whether the charging function is normal.
 Whether the handle and pedal are normal.
 Whether the hydraulic oil, electrolyte and brake fluid are leaking out.
 Whether the mast lifting, tilting, forklift steering and braking are normal.
2.3.2.3 Running on Ramp
 It is only allowed to run on ramps that meet the performance parameters; please refer to 3.8 Tech-
nical Parameters.
 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 Safety Rules for Manual Operations
 Dress neatly before driving and always wear work clothes.
 Always pay attention to the height of area where the forklift is working.
 Drive forward when going uphill and drive backward when going downhill.
 Do not expose your arms and body outside the roof rack during work.
 Avoid driving on soft or unprepared surfaces.
 Avoid eccentric loading.
 Inspect the position of the locating pins on the fork.
 Try not to drive on smooth or slippery ground.
 Pay attention to the lateral driving stability of the forklift when it is unloaded.
 Do not chase each other when driving.

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 2. Safety

 If the load is too high and blocks the view, drive backward or arrange a guide person.
 Do not make turns on slopes.
 Sound the horn when there are people or objects on the road.
 Pay attention to the change in the forklift’s rated lifting capacity.
 Please try to slow down when loading.
 No one is allowed to walk or stand under the raised forks.
 Try to avoid the load exceeding the height of the shelving.
 Special safety equipment must be provided in order to carry people to work at heights.
 Do not lift the load at angle.
 Do not load or unload when the forklift is not in a horizontal position.
 When driving, the distance between the forks and the ground shall not exceed 300mm.
 Do not make fast or sharp turns whether it is loaded or unloaded.
 Do not jump off if the forklift tips over.
 Staying on the forklift during a tip-over will protect you better than jumping off. If the forklift
starts to tip over:
1. Step on the pedal tightly and hold the operating handle firmly.
2. Do not jump off.
3. Bend and lean your body in the opposite direction of the tip-over.
4. Lean your body forward.
2.3.4 Load Safety
 CPD 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
10. Effective Load Specifications.
 The load weight carried on the upper mechanism must be distributed evenly without partial load.
2.3.5 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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 2. Safety

 Under special circumstances, take safety measures for the robot, such as using wedges.
2.3.6 Safe Avoidance Range
The slewing radius of the robot is 3020mm. Keep away from this range.

2.4 Battery Safety Warning

 For your safety, please do not open or disassemble the battery without permission.
 The battery must be maintained and replaced by professionals. If necessary, please call our service
hotline.
 To replace the battery, please choose lithium battery for forklift of same type and model, or con-
sult us first. The lithium batteries of different sizes from different manufacturers shall not be
mixed.
 Please use the special charger provided by us to charge the battery. Do not charge the battery with
charges of other specifications or from other companies.
 When installing the battery system, reserve a safe distance around it.
 It is strictly prohibited to discharge the battery excessively!
 Please take care to avoid using this system in the following environments:
 High/low-temperature and humid places that exceed the technical specifications;
 Places where metal dust, corrosive substances, salt and flammable gases are present;
 Places where the air cleanliness is low.

2.5 Risk Assessment

The risk assessment is an important step for the Integrator to realize safe installation. The on-site
commissioning personnel are usually responsible for the risk assessment.

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 2. Safety

The risk assessment does not only involve CPD chassis, but also consider path planning, work envi-
ronment etc.
It is recommended to carry out the risk assessment with reference to the guidelines in ISO 12100,
ISO 3691-4, ANSI B56.5 or other relevant standards, including but not limited to:
 It shall be demonstrated in the robot installation, development and use process.
 The robot equipment shall be working normally.
In paragraph 4 of ISO 3691-4, the major hazards, dangerous situations and events that need to be paid
attention to shall be listed.
The risk assessment items shall be listed in the technical agreement.

2.6 Residual Risk

The following lists the potential major hazards. Please operate the robot carefully.
 The robot can be set with a route for moving backwards, but there is a risk of collision if entering
the running route of the robot when it moves backwards.
 If the user accidentally touches the moving parts of the robot, there is a risk of being pinched or
collided.
 There is a risk of being impacted and jammed when transporting the load.

2.7 Environmental Safety

2.7.1 Noise
The noise level of the CPD in normal use complies with the international standard EN 12053.
2.7.2 Scrap Disposition
CPD contains the following materials that affect environmental factors:
 Plastic
 Battery
 Hydraulic oil
Disposal requirements: CPD shall be disposed of by the user and the final scrap processor in accord-
ance with the Law of the People's Republic of China on the Prevention and Control of Solid Waste
Pollution.

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 3. Product Introduction

3. Product Introduction

3.1 Overview
SFL-CPD15-T (Seer Forklift) is a laser SLAM Counter balanced stacking automatic forklift. It is
internally equipped with SRC core controller to provide the core map building, localization and nav-
igation functions, and I/O, CAN, RS485 and other interfaces are reserved for helping users to quickly
realize various applications of the automatic forklift.
This product is developed and designed by Shanghai Seer Intelligent Technology Corporation. All
rights © are reserved by Shanghai Seer Intelligent Technology Corporation.
Although some names in this document and possible other names are not marked with the registered
trademark symbol®, but they are registered trademarks of Shanghai Seer Intelligent Technology Cor-
poration, including 仙工智能, SEER and SRC.

3.2 Product Dimensions

3.2.1 Dimensions of Robot

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 3. Product Introduction

S/N Definition SFL-CPD15-T (mm)

h3 Standard lifting height 3300

h2 Free lifting height 0

Standard fork size (length/thick-
s/e/l 110x40x950
ness/width)

b3 Fork spacing (max/min) 750/215 (including 560/600)

L1 Total length (Tail to fork point) 2555

L2 Body length (tail to front end of fork) 1605

b1 Total width 1150

h1 Mast retracted height 2160

h4 Mast expansion height 4208

Overhead height (including naviga-
h5 2326
tion laser)
Axle center to fork face (fork
c 173
raised/lowered)

Wa Minimum turning radius 1510+200

Aisle width, 1000x1000mm pallet
Ast 2740+200
crosswise

Min right angle aisle width 1870+200

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 3. Product Introduction

3.2.2 Coordinate System of Gyroscope

The data of gyroscope in the coordinate system of the robot can be used to detect slippage.

S/N Definition SFL-CDD15-T

Refers to the offset of the position where the controller is in-
x 292mm
stalled in the x axis of the coordinate system
Refers to the offset of the position where the controller is in-
y 237.20mm
stalled in the y axis of the coordinate system
Refers to the offset of the position where the controller is in-
z 1652.31mm
stalled in the z axis of the coordinate system
Refers to the degree of yaw where the controller is installed
yaw -90°
relative to the coordinate system of the forklift
Refers to the x component of the quaternion (reserved, no
qx /
need to be filled in)
Refers to the y component of the quaternion (reserved, no
qy /
need to be filled in)
Refers to the z component of the quaternion (reserved, no
qz /
need to be filled in)
Refers to the w component of the quaternion (reserved, no
qw /
need to be filled in)

faceUP Refers to the orientation of the controller 2

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 3. Product Introduction

3.3 Main Labels

3.3.1 Precautions

Notice
1. Learn about AGV
Users shall operate AGVs without professional training, and must read the vehicle safety instruc-
tions carefully before operation
2. Inspect the AGV
Inspect the AGV before usage. If finding any damages, stop immediately and paste a “Prohib-
ited to use” label and contact a professional for treatment.
3. Protect yourself and the people around you
Do not carry passenger on the AGV. No one is allowed to sit on AGV, its battery or cargo.
4. Learn about your working area
When using AGV, it is necessary to ensure that the working environment is neat and norma-
tive. No one should stay or no cargo should be placed temporarily on the run-
ning route of AGV. The working staff should avoid immediately when listening or see-
ing AGV passing by.
5. Learn about your load
Do not overload the AGV. Carry cargo within the speci-
fied load range. Do not carry loose cargo or cargo that exceeds the length, height and width lim-
its.
6. Avoid sudden starting
Before starting the AGV, keep the irrelevant personnel away to avoid unexpected start of AGV.
7. Charging Precautions
Charge it always with the original charger and within the specified area. When charg-
ing, keep good ventilation, prevent the vents being blocked, and prevent sparks develop-
ing into open flame. Before repairing, disconnect the battery.
8. Do not allow any non-professionals to remove the AGV.
9. The battery should not be under voltage. Refer to the instructions or a professional for treat-
ment.

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 3. Product Introduction

3.3.2 Nameplate

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 3. Product Introduction

3.4 Body configuration

S/N Name S/N Name

1 Navigation laser 12 Photoelectric sensor

2 Searchlight 13 Electric control cabinet

3 Data recorder 14 SRC switch

4 Tri-color light 15 Manual/automatic switching

5 Turn light 16 HMI display screen

6 Emergency stop button 17 Manual control handle

7 Obstacle avoidance laser 18 Display list

8 3D pallet recognition 19 Key switch

9 Draw wire encoder 20 Main power switch

10 In-place switch 21 Hydraulic oil filler

11 Obstacle avoidance laser

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 3. Product Introduction

3.5 Operation Panel

Tri-color light

SCR switch HMI display screen

Manual/automatic switching
Manual control handle
Display list

Main power switch

Emergency stop button

Emergency stop button

 The emergency stop button is only used under emergency, and shall not be used to stop the robot
when it is running normally.
 After the emergency stop button is pressed, the robot will immediately stop all movement.
 The emergency stop button can be pulled up only when the cause of the fault is identified and the
fault is eliminated.

Precautions for Emergency Stop of Robot

 When using our dispatching system, it is strictly prohibition to move the robot by
moving after pressing the emergency stop button; otherwise, it will cause the robot
task to go wrong.

Main power switch

 The default of the main power switch is to power off the forklift. Press it to disconnect all power
supplies, and pull it up to power on the forklift.
 The line can also be changed to driver disconnection. Press it to disconnect the driver, and pull it
up to clear the driver error.
Manual - Automatic - Reset toggle switch
 Manual (Manual): Specifically, when the robot is controlled by an external device such as a han-
dle or communicator (usually found in large robots such as forklift), the criterion is whether the
SRC is in external control mode.
 Automatic (Auto): When the SRC is not externally controlled, it is deemed to be in automatic
mode.
a. Automatic Navigation: Any case where navigation instructions are sent through the API (in-
cluding Roboshop, dispatching API, or other upper computer).

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 3. Product Introduction

b. Remote Control via Upper Computer: Any cases where control is implemented via API 2010
(includes Roboshop WASD, open-loop instructions by customer etc., i.e., what was usually
known as manual control).
 Reset (Rest): After the emergency stop button is pulled up or the fault signal is released, the reset
button must be pressed before the system resumes operation.

3.6 HMI display screen

HMI display screen consists of display screen, PWR indicator light, CPU indicator light and COM
indicator light. The specific information is shown in the following figure

HMI display screen is divided into four parts: general information, basic information, control and
alarm frame.

3.6.1 Main interface

After the display screen is turned on and connected to communication, the main interface can be
displayed.

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 3. Product Introduction

If the communication is not connected, the PLC communication does not respond.

3.6.2 General Information Display

General message function description

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 3. Product Introduction

Type Icon Definition

Click it to switch to the basic infor-

Basic information
mation interface

Click it to switch to the control in-

Control
terface

Real-time display of current IP

IP
value

Display the current charging/dis-

charging information of the ro-
Battery current bot (positive in case of charg-
ing and negative in case of dis-
charging)

Logo Display the company logo

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 3. Product Introduction

Display the current version of in-

UI Version
terface in real time

Display the current version of RBK

RBK Version
in real time

Chinese-English Click it to switch between Chinese

Switching and English

3.6.3 Basic information page

Basic information Function description

Type Icon Definition

Indicate that the robot is not exe-

cuting any task
Navigation modes

Indicate that the robot is navi-

gating to the coordinate point
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 3. Product Introduction

freely

Indicate that the robot is navi-

gating to the site freely.

Indicate that the robot is navi-

gating to the site by the path

Confirm localiza- Click it to confirm the current lo-

tion calization of the robot

Click it to clear the fork status of

RESET
the robot

Indicate that the robot is currently

in the automatic operating
mode
Operating mode

Indicate that the robot is currently

in the manual operating mode

Indicate that the robot is currently

in the "Null" navigation status

Indicate that the robot is currently

in the "Ready" navigation sta-
tus
Navigation status

Indicate that the robot is currently

in the "Suspended" navigation
status

Indicate that the robot is currently

in the "Arrived" navigation
status

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 3. Product Introduction

Indicate that the robot is currently

in the "Failed" navigation sta-
tus

Indicate that the robot is currently

in the "Canceled" navigation
status

Indicate that the robot is currently

in the "Timeout" navigation
status

Indicate that the current fork

Fork height height of the robot is 1.560m.
Click it to set the fork height.

Indicate the current driving veloc-

Driving velocity
ity of the robot

Indicate the current angular veloc-

Angular velocity
ity of the robot

Indicate that the current target site

of the robot is null; click the
Target site
icon to input the site for navi-
gation

Indicate that the robot is currently

Current site
in the site 1

Confidence coeffi- Confidence coefficient ∈ [0.00,

cient 1.00]

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 3. Product Introduction

Battery level Battery level (%)∈[0，100]

No emergency stop

Emergency stop
status

Under emergency stop

No blockage

Blockage status

Blocked

If there is a Warning, the corre-

sponding warning code will be
displayed on the right (subject
to the actual warning code)

If there is an Error, the correspond-

ing warning code will be dis-
Error Code
played on the right (subject to
the actual warning code)

If there is an Fatal, the correspond-

ing warning code will be dis-
played on the right (subject to
the actual warning code)

3.6.4 Control Interface

Introduction to control interface functions

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 3. Product Introduction

Type Icon Definition

Click it to recover the control right over the

robot.
Control power
Click it to release the control right over the
robot.

They are emergency stop status, blockage

status, warning code, error code and fa-
tal code from the left to the right.

Robot status
When the status is triggered, the correspond-
ing icon will change to the style as
shown in the figure below and will keep
flashing.

Not triggered

DI

Triggered

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 3. Product Introduction

Not activated; click the button to activate it

DO

Activated; click the button to deactivate it

3.6.5 Alarm box interface

Alarm box function description

Type Icon Definition

Any of the following messages except for the charging message will trigger an alarm frame, and
corresponding alarm message will be displayed.

Indicate that the robot has been blocked

when this message pops up
Robot status
Indicate that the robot is charging (during
which it will not pop up)

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 3. Product Introduction

Indicate that the robot has an error or

warning when this message pops up

Indicate that the robot is in the emergency

stop status when this message pops up

3.7 Sound and light system

3.7.1 Tri-color light
In automatic mode:
 The tri-color light will turn yellow when the forklift is in the standby status.
 The tri-color light will turn green when the forklift is executing a task.
 The tri-color light will turn red when an error occurs in the forklift.
3.7.2 Turn light
In automatic mode:
 The left turn light will be lit if the forklift makes a left turn when executing a task.
 The right turn light will be lit if the forklift makes a right turn when executing a task.
3.7.3 Searchlight
SFL-CPD15-T is equipped with a searchlight. When the forklift is in the automatic mode, the search-
light will be normally on.

3.8 Technical Parameters

Model Parameters SFL-CPD15-T

Number of navigation lasers 1（P+F R2000）

Number of obstacle avoidance lasers 2 (OLE LR-1BS2, head) +1 (OLE LR-1BS2, tail)
Driving form Single-steering wheel

Dimensions

L*W*H 2555mm*1150mm*2326mm

Weight (including battery) 2325kg

Color

Shell color Blue + black/customized color

Network Interface

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 3. Product Introduction

Wireless network Wi-Fi 802.11 a/b/g/n/ac

Battery

Battery capacity 24/270V/AH (lithium battery)

Battery life 10h

Charging time 10-80%：2h

Charging method Manual/automatic (requiring automatic charging pile)

Battery charge and discharge cycles > 2000 times

Operation Panel

HMI display screen √

Emergency stop button √

Buzzer 〇

Power indicator √

Audio and mood light

Speaker √

Tri-color light √

Searchlight √

Performance Parameters

Maximum load 1500kg

Driving velocity With/without load: 1.2/1.5m/s

Rising velocity With/without load: 95/120mm/s

Dropping velocity With/without load: 120/85mm/s

Maximum climbing ability 1 5%

Localization accuracy 2 ± 10mm，± 0.5°

Map area (single frame) ≤ 400000m²

Functions

Basic functions 3 √

Wifi roaming √

Automatic charging 4 〇

Pallet recognition 5 〇

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 3. Product Introduction

Laser reflector navigation 〇

3D obstacle avoidance5 〇

Environment

Ambient temperature and humidity 0 -50 (humidity 10-90%, without compression

range condensation)

IP rating 6 IP20

√ Supported

× Not supported

⚪ Optional

1. The road surface should be smooth, clean and free of obvious ups and downs. Slope 5% =
arctan(0.05) ≈ 2.8°。The robot must not stop or turn at the ramps, steps, or gaps, but can pass
quickly perpendicular to them.
2. The localization accuracy usually refers to the repeatability of the robot navigating to the target
site. When the environment scanned by the robot’s laser radar is relatively stable, the repeatability
of the robot navigating from a fixed direction to the target site can reach the expected value. The
robot will try to fit the path but could not ensure its repeatability when it runs along the planned
path. That is, the robot can guarantee the accuracy of the point, but not the fitting accuracy of the
path. The minimum site spacing supported by CPD is 1cm. Therefore, the robot should not be
used as a linear guide.
3. The basic functions include map editing, model editing, localization module, navigation module,
basic motion model (differential), and API interface etc.
4. Need to be used with a dedicated automatic charging pile of SEER.
5. A 3D camera must be installed in the peripheral extension to enable this function.
6. CPD is designed for indoor transportation only and is not recommended for outdoor use.

3.9 Software Functions

 Map editing
 Model editing
 Localization module
 Navigation module
 API interface
 Visible operation
 Multi-robot dispatching

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 3. Product Introduction

 Wi-Fi roaming
 Automatic charging
 Laser reflector navigation
 3D obstacle avoidance
 Pallet recognition

3.10 Network Requirements and Configuration

Network Requirements
Wireless network protocol: IEEE 802.11 a/b/g/n
Broadband speed: ≥100Mbits
Signal intensity: ≥-60dBm
Network delay: Average delay time ≤100ms

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 4. Start to Operation

4. Start to Operation

4.1 Accompanied Articles

 CPD robot body
 Manual charger/ automatic charging pile (Single piece or two pieces optional)

4.2 Startup of Robot

1. Pull up the red main switch of power supply.

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 4. Start to Operation

2. Turn on the driver switch clockwise.

3. Press the SRC switch until the green power indicator is normally on, and then release the power-
on switch to finish the power-on process. In this process, the tri-color light, searchlight and laser
are on.

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 4. Start to Operation

4.3 Manual driving (from the Operation and Maintenance Instructions for RE-
BOT Battery-powered Counter Balanced Forklift)
4.3.1 Introduction to Cab
Control handle

Key switch

Coulombmeter

Main power switch

Hydraulic oil filler

4.3.2 Introduction to Manual Control Handle

 Direction Control:
When operating, the driver sits in the middle of the forklift and operates the handle in his front
with both hands. When the forklift runs forward, it will make a right turn if the operating handle
is turned to the left, and will make a left turn if the operating handle is turned to the right. When
the forklift runs backward, turn the operating handle to the left.
 Driving Direction and Speed Control:
CPD15-T forklift is controlled with a control handle. Before driving, press the steering handle
until the brake is released, or turn the red knob slowly forward or backward to drive the forklift
forward or backward. The driving velocity is controlled with the rotation angle of the red knob.
The operator can determine the driving velocity according to the specific situation.
 Control of Lifting Mechanism:
The forks of CPD15-T forklift are controlled to lift or rise respectively with the rising toggle
button on the right and the dropping toggle button on the left of the control handle.

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 4. Start to Operation

Dropping switch button Rising switch button

Horn button
Acceleration knob Acceleration knob

Function Diagram of CPD15-T Control Handle

4.3.3 Safety Features of Forklift
The forklift is equipped with sufficient safety devices to reduce the potential of accidents.
 When the fork is raised to the highest point, this forklift is equipped with dual safety protection
of mechanical limit and electrical limit.
 When the steering angle is more than ±20°, the driving velocity will be lowered automatically.
 When any error occurs in the electrical system, the forklift will stop running automatically.
 The forklift will run only after the control handle is pressed to the set range.
 The forklift will not run if any control button is active before the power is on (power key switch
turned to the position ON) (e.g. control handle is pressed early). (tilting toggle button, lifting
toggle button, acceleration knob, horn button, dropping toggle button and rising toggle button
etc.)
 When the forklift is out of control or under emergency, press the red emergency power-off switch
to cut off the main power of forklift.
 Release the acceleration knob, or press the operating handle; the forklift will apply braking.
4.3.4 How to drive a manually operated forklift
Before driving or handling cargoes, the operator must ensure that the surrounding area is in a safe
condition.
 Enter the cab and turn the power key switch to the position ON.
 If any of the control knobs are active before the power is on (power key switch turned to the
position ON), the forklift will activate the safety protection function to prevent the forklift from
traveling after powering on.
 Hold the operating handle with both hands.
 It is prohibited to operate the forklift with a single hand.

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 4. Start to Operation

 The function of acceleration knobs on both left and right sides is the same. When the driver rotates
the acceleration knob with index finger forward, the forklift will drive forward and the driving
velocity will increase with the increase in rotation angle.
 When the driver rotates the acceleration knob backward, the forklift will drive backward, and the
driving velocity will increase with the increase in rotation angle. Start and accelerate the forklift
gently but do not start or accelerate suddenly.
 When driving on the slope, the cargo on the forks must face uphill.
 Generally drive in the direction of facing the cargo as far as possible; when the cargo is blocking
the line of sight, it is necessary to drive backward to ensure a good view and maneuverability.
There are three ways to apply braking:
 Press the emergency stop button.
 Emergency braking: Quickly press on the control handle.
 Press the emergency power-off switch.

4.4 Shutdown of Robot

1. Make sure that the robot currently has no tasks and is in a stopped state.
2. Press on the SRC on/off button for 2-3s, and then release it; the power indicator will go out in
seconds.
3. Turn it off by turning the driver switch to the left.
4. Press the main power switch to complete the shutdown.
Note: If it is shut down due to transportation, maintenance or repair, the robot battery switch
must be turned off.

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 5. Battery and Charging

5. Battery and Charging

5.1 Manual charging of the robot

The CPD battery supplied along with the robot can be used for 4-5h, after which it needs to be charged.
Please use the original charger. The specific charging steps are as follows:
1. Remove the switch baffle from the side of the seat.

2. Pull up the red handle.

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 5. Battery and Charging

3. Open the rear cover of the forklift

4. Insert the manual charger into the charging hole.

5. Power on the manual charger, turn on the charger switch, and the charging information lights up.
Note: The socket should be of national standard 16A and be grounded.

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 5. Battery and Charging

6. Observe the HMI display screen; when the charging icon is displayed, it indicates that the robot
is charging.

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 5. Battery and Charging

Notice
 It is recommended to turn off the robot when charging with a charger.
 If you use the same charger to charge two robots sequentially, please wait one minute
after the first robot is fully charged, and then charge the second robot to ensure that
the charger can correctly identify the second robot.
 Please use the original charger.

5.2 Automatic charging of the robot

Automatic charging interface

Note: Please refer to the User Guide for SFL Charging Pile for the usage and configuration of
the charging pile

5.3 Battery Product Performance Curve

5.3.1 Discharging curves of different ratios
LF90 Ratio Discharging Curve
Voltage/mV

0.33C Discharging
0.5C Discharging
1.0C Discharging
1.C Discharging
2.0C Discharging
3.0C Discharging

Capacity/mAh

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 5. Battery and Charging

5.3.2 Discharging curve of different temperatures

LF90 Discharging Curve at Different Temperatures

Voltage/mV

RT Discharging
55℃ Discharging
-20℃ Discharging

Capacity/mAh

5.3.3 Cycle Performance (1.0C/1.0C Charging/Discharging) Curve

LF90 cell cycle: 3,500 cycles

Maintaining of cycle capacity

Cycle index

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 5. Battery and Charging

5.4 Battery system parameters

This product selects safe and high-quality lithium iron phosphate lithium-ion battery cores, adopts
modular integration technology and is fitted with a special battery management system for lean man-
ufacturing and comprehensive control to ensure product safety and long service life.

S/N Item Indexes Remarks

Battery Cell Parameters:

1 Cell type Power type square cell

Lithium iron phosphate
2 Material system
battery

3 Nominal voltage 3.20V

4 Discharge cut-off voltage 3.65V

5 Discharge end voltage 2.5V

Charge 0 ~55
Maximum operating
6
temperature range
Discharge -20 ~60

Charge 15 ~35
Optimal operating
7
temperature range
Discharge 15 ~35

Within 1
-40 ~45
month
8 Storage temperature
Within 6
-20 ~35
months

Battery pack system parameters

S/N Item Value Remarks

1 Recommended state of charge (SOC) 10%-95%

2 Charging temperature range 0 ~+55

Natural cooling,
3 Discharge temperature range -20 ~+55 temperature ≤
10

2,500 times or 5 years

4 Cycle life Standard cycle
(whichever comes first)

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 5. Battery and Charging

5.5 Battery management system parameters

S/N Item Value Description

DC/DC power supply in
1 Operating power supply 12V
the battery box
Operating energy con- Power consumption with-
2 <3W
sumption out relay

3 Operating temperature -40 ~85

Guaranteed protection rat-

4 Protection rating IP20
ing of battery box

One for main control and

5 CAN communication External with two circuits
one for charging

6 CAN baud rate 250K

7 485 communication 1-circuit External display screen

Accuracy ±5mv, range 2-
8 Cell voltage sampling
5V

9 Current sampling -750A~+750A

10 Temperature sampling -40 ~85

11 SOC estimation accuracy Refer to QC/T 897-2011

Safety management of bat- Two-level warning, one- Two-level warning strat-
12
tery pack level shutoff egy
Thermal management of
13 Supported
battery pack

14 Contactor control With

15 Charge control With

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 5. Battery and Charging

5.6 Battery safety performance

S/N Item Standard Test methods

No ex- After charging the battery, set aside for 1h at 20 ±5 .

Penetration plosion Rapidly penetrate with a 3mm-8mm steel nail perpendicular
1
performance to the battery pole plate (with the steel nail staying in the
No fire
battery).

After charging the battery, set aside for 1h at 20 ±5 .

Carry out the test under the following conditions. The test
No ex- shall be carried out under conditions with adequate environ-
Crushing plosion mental protection: a) Crushing direction: Apply pressure
2
test perpendicular to the battery pole plate. b) Crushing area:
No fire
Outer surface perpendicular to the pressure application di-
rection. c) Degree of crushing: Crush until the battery shell
is ruptured or internally short-circuited.
No ex- After charging the battery, set aside for 1h at 20 ±5 . Set
3 Heating test plosion
No fire aside for 120min at 85 ±2 .

No ex- After charging the battery, set aside for 1h at 20 ±5 .

Short-circuit plosion
4 When the battery is short-circuited externally for 10min, the
Performance
No fire resistance of external line shall be less than 10mΩ.

After charging, set the battery aside at 20 ±5 for 1h.

Then, charge the battery at the same temperature with either
of following two charging methods:
Over-charg- No ex-
5 ing Perfor- plosion （1） Charge with 150A current until the battery voltage
mance No fire reaches 5V or for 90min (stop the test under either of the
above conditions).
（2） Stop the test when the voltage reaches 10V with 9I3
(A) current.

Over-dis- No ex-
plosion Discharge the battery with 100(A) current at 20 ±5 until
6 charging
Performance No fire the voltage is 0V.

5.7 Battery Storage

 In case of long-term storage, the battery assembly shall be kept in a shaded and ventilated place
which is away from flammables, explosives or hazardous substances, and shall be protected from
exposure to direct sunlight to prevent the high-temperature protection of battery being triggered.
 To store for more than 3 months, it is recommended to charge to 50% SOC with AC current, and
then store it in a dry warehouse at room temperature; moisture, water and dust prevention
measures shall be taken for the contact positions of battery assembly to avoid corrosion and short-
circuit.

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 6. Navigation and Control System

6. Navigation and Control System

The navigation and control system allows the robot to complete a series of tasks according to task
instructions. This chapter introduces the process and main components of the robot navigation and
control system.

6.1 System Overview

The navigation and control system controls the robot to navigate to another destination in the con-
structed map according to the task instructions issued by the user, or controls the motor, audio, DO
or robot status according to the current status of the robot. The following figure shows the structure
of the navigation and control system. The modules designed in the navigation and control system are
as follows:
 Global Path Planning
According to the planning of destination point and map file, generate the shortest path to the destina-
tion point, and disassemble the total task into sub-tasks of each section of the path.
 Task Planning
The task planner generates a task queue based on the subtask instructions of current path, and then
the model file information. Then, it calls the path navigation module or the action execution module.
 Local Path Planning
Based on the nature, localization, and sensors of the current path, the robot is controlled to travel on
the current path. If an obstacle is encountered, the robot will report a blockage error.
 Action Planning
Based on the action instruction and sensor information, the robot mechanism is controlled to perform
a specified action.
 Localization
The localization module provides the robot with real-time accurate location information in different
environments based on laser SLAM navigation, or QR code navigation, or odometer navigation, or
magnetic stripe.
 Sensors
Various sensors (Accelerometer, encoder, 3D camera, infrared sensor, and DI signal sensor etc.) pro-
vide real-time status query for the robot. This information can be used for arrival judgment, obstacle
judgment, and deceleration judgment etc.
 Actuators
The actuators include motors, audio, DO, and the robot’s own state, etc., and finally realize the robot’s
response to task instructions.

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 6. Navigation and Control System
Execute task
Configurable instruction at a place
content
Map Parameter

Navigation and Control System

configuration Global Path Planning
Model file Calibration
file
Task Planning
Recognition Script Sensors
file library
Accel-
Gyroscope
erometer
Local planning Action Planning Encoder 3D camera
Localization

Laser Infrared DI signal

QR code
localization

Odometer Magnetic Actuators

stripe
Motor Audio Status

System Structure Diagram of Robot Navigation and Control

The user sends a task instruction to the robot somewhere through the network. The robot will auto-
matically generate a path to the destination point based on the configurable content, localization and
sensors, and use the actuators to complete the corresponding task action.

6.2 User Input Information

To enable the robot to navigate automatically, the user must provide the following information:
 On the map where the robot is located, you need to scan the robot map through RoboShop soft-
ware, and set the working point location and path on the map
 Configure the robot model files
 Determine the current location of the robot
 Send the destination point location of the robot.

Robot model file

Robot location Route and site

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 various mechanisms
such as laser and motor. After the robot has the map, point location, path, model file, and current
location, it can plan a path to the destination point.
When the robot receives the map, model file, current location and destination point location, the robot
will plan a path from the current location to the destination point as short as possible.

6.3 Global Path Planning

The global path planning means that the robot generates a path to the destination point. The global

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 6. Navigation and Control System

path planning is performed only at the beginning of the task. During the global path planning, the
obstacles on the path will not be considered, but the deviation distance of the robot from the path will
be taken into account.

Routine of global Target site

path planning

The blue circle is the destination point, and the blue line is the path planned by the robot.

6.4 Local Path Planning

The robot will conduct real-time local path navigation while running. When encountering obstacles,
the robot will avoid obstacles. For the local path navigation, the speed of the robot will also be planned
to ensure smooth speed during the operation of the robot. When the robot is off the path, it will display
that the navigation fails and the robot is not in the set path.

Error reported
when robot is
blocked

When it detects a virtual obstacle on the path, the robot will navigate the local path to avoid obstacles
and stop.
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 6. Navigation and Control System

6.5 Task Planning and Action Planning

When the robot receives a task instruction, it will split the instruction into a sequence of actions. For
example, the task of recognizing and picking up the cargo is issued to the jacking cart, the instruction
issued will be decomposed into three parts during the task planning: 1. Recognize the location of the
cargo; 2. Navigate to the location of the cargo; 3. Perform the pickup action. Only after each action
is successfully actuated, the task instruction is considered to be complete.
The action planning is to plan the robot’s own equipment to perform each action. For example, 1. To
recognize the location of the cargo, the action planning will call the camera to recognize the location
of the cargo based on the appropriate recognition files. 2. To navigate to the location of the cargo, the
action planning will call the local path navigation to make the robot move to the destination. 3. To
perform the pickup action, the robot will rotate the pickup motor to load the cargo.
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.

6.6 Obstacle Detection

The obstacle detection function of the robot is realized by the following three sensors:
 Laser
 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

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 6. Navigation and Control System

Laser Vision

3D laser vision
6.6.1 Navigation Laser
SFL-CPD15-T is equipped with a SICK nanoScan3 Core; the main functions are as follows:
 Map scanning
 Localization and navigation
 Obstacle recognition

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 6. Navigation and Control System

6.6.1.1 Detection Range

Model S/N Definition Parameter

R Detection distance 40m

SFL-CPD15-T Y Scanning angle 275°

H Detection height 2296mm

6.6.1.2 Non-detection Zone

Due to the characteristics of the navigation laser sensor, the objects lower or higher than its detection
height can’t be detected.
6.6.1.3 Actions after Detecting the Obstacles
When CPD is delivered, the default deceleration (ObsDecDist) and stop (ObsStopDist) districts have
been set.

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 6. Navigation and Control System

 In the deceleration district (default value 3m), the robot will decelerate when the laser detects an
obstacle.
 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.

Precautions for Parameter Configuration of Robot

 The collision detection will be turned off when ObsStopDist is set as 0. A collision
may occur at this time. Be careful!

6.6.1.4 Characteristics and Operation Restrictions of Navigation Laser

Noise
The noise of the laser is caused by the principle of laser measurement. During laser ranging, a light
spot is emitted, which usually has a fixed divergence angle. Therefore, the longer the measurement
distance is, the larger the spot formed in the distance will be. If a light spot is emitted while half
illuminating the object in front and half of the object behind, and the energy returned will be high,
the distance measured here will be problematic, and the laser noise will be generated generally.
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 fore-
ground object as shown in the figure below:

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Effective Distance
The effective distance of the Pepperl + Fuchs laser is 0.1m-40m during normal running, so when the
laser is very close to the object, the laser data may be inaccurate. Therefore, the laser shall not be
particularly close to the wall or other objects when using it (at least 10cm space should be reserved).
Reflectivity
The reflectivity of the laser is usually related to the intensity of the energy returned by the laser, so
objects with high reflectivity (reflectors) will have a higher reflectivity, and ordinary objects will have
a lower reflectivity. Usually, we normalize the reflectivity to 0-255, where 0 is the lowest reflectivity,
and 255 is the highest reflectivity. The reflectivity of general objects is less than 150, and the reflec-
tivity 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:

Therefore, if the environment is full of objects with high reflectivity, it may affect the related appli-
cations that need to recognize the reflector.
Black Object
For a black object with a reflectivity of 10%, the effective measurement distance of the laser is 0.1m-
10m. For black objects with lower reflectivity, the laser may not be able to recognize or the distance
measured may be inaccurate. Therefore, if the environment is full of black objects with low reflectiv-
ity, the robot may not be able to build an accurate map of the environment, and thus can’t navigate
stably and accurately.
Objects with Specular Reflection
For the purpose of laser measurement, the distance is calculated based on the reflected laser received,
so the objects of different materials will have different effects on the laser measurement. For the
surface of natural object that produces uniform diffuse reflection, the noise will be relatively low after
the laser irradiates onto it, and thus the measurement accuracy will be relatively high. For the smooth
surface that produces specular reflection, the measurement noise will be relatively high, and thus the
measurement accuracy will be relatively low. 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.

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Jamming between Lasers

Generally, the lasers are designed to protect against the jamming between multiple lasers to avoid
mutual jamming. However, the laser manufacturers recommend using the following installation
method to completely avoid mutual jamming between them when using multiple lasers. The jamming
between lasers is eliminated by increasing the tilt angle of the laser installation. For laser SLAM
applications, the tilt angle shall be upward instead of downward.

Influence of Strong Light

Generally, the ambient light immunity of the indoor laser is about 40klux-80klux, and the indoor light
intensity is usually less than this value. Therefore, the indoor light will not influence the laser, but it
is necessary to avoid direct sunlight as much as possible. For outdoor applications, please use an
outdoor dedicated laser, such as Sick LMS series.

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Influence of Environmental Changes on Laser SLAM

The principle of laser SLAM is to build a point cloud map of the environment by scanning the contour
of the environment with the laser radar, and then perform localization and navigation by matching the
built point cloud map with the real-time point cloud scanned with the laser. Therefore, if the contour
of the environment changes significantly (>30%) after map building, the robot may not achieve the
expected high accuracy. If the contour of the environment changes more significantly (>60%), the
robot may deviate from the path or even lose its localization. Therefore, for the use of laser SLAM in
scenes where the environment often changes significantly, please consider adding other auxiliary
measures, such as enabling online SLAM, deploying reflectors or QR codes.
6.6.2 Obstacle avoidance laser
CPD is equipped with two OLE LR-1BS2Ls on the head (the Model can be changed according to
demand) and one OLE LR-1BS2L at the tail as obstacle avoidance lasers, so that the robot will slow
down and stop accordingly when meeting obstacles at the mounting plane of the obstacle avoidance
lasers, improving the safety of the robot in the moving process. Note: OLE laser should not be used
for localization, and thus the useForLocalization in the robot model file shall be checked off.

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6.6.2.1 Detection Range

Model S/N Definition Parameter

R1
Detection distance 10m
R2

SFL-CPD15-T γ1 270°
Scanning angle
y2 150°

H Detection height 136mm

6.6.2.2 Non-detection Zone

Due to the characteristics of the navigation laser sensor, the objects lower or higher than its detection
height can’t be detected.

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6.6.2.3 Actions after Detecting the Obstacles

When CPD is delivered, the default deceleration (ObsDecDist) and stop (ObsStopDist) districts have
been set.
 In the deceleration district (default value 3m), the robot will decelerate when the laser detects an
obstacle.
 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.

Precautions for Parameter Configuration of Robot

 The collision detection will be turned off when ObsStopDist is set as 0. A collision
may occur at this time. Be careful!

6.7 Localization
The purpose of the localization process is to determine the current location of the robot. The robot
has 3 input items to determine its current location:
 The initial location of the robot is used as a reference point for localization.
 IMU and encoder data are used to determine the distance and speed of the robot from the initial
location.
 The laser scanning data is used to determine the approximate location of the robot by comparing
the location data of the wall on the map.
The particle filter uses the above data to determine the approximate location of the robot on the map.
IMU and Encoder
The data of inertial measurement unit (IMU) and motor encoder can be used to calculate the distance
and speed of the robot from the initial location. The combined use of these two sets of data results in
a more accurate position.
Laser and Particle Filtering
The robot controller uses a particle filter algorithm to confirm the best match by comparing the laser
input data with the wall on the map. Since the laser input data is only compared the robot’s estimated
position based on the IMU and encoder data, it is necessary to confirm the initial location.

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To ensure that the robot can be accurately positioned through particle filtering, we need to confirm
when building the map:
 The map must have unique, recognizable static landmarks which are easily identifiable. The land-
mark 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.
 Make sure that the current location of the robot is correct.

6.8 Driver and Motor

The robot constantly adjusts the output of the motor on the basis of the information collected by the
sensor. So the robot can correct its speed when climbing hills or carrying weights.

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7. Debugging

7.1 Connection of Robot

To operate the robot, you need to use the latest version of Roboshop:

1. Connect the computer to the lower network interface of the robot with an internet cable.

2. Set the computer's Ethernet IP to the network segment 192.168.192.xxx (xxx must be more than
200), and the subnet mask as 255.255.255.0; the gateway can be omitted.

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].

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 7. Debugging

5. It indicates that it has been connected successfully when "Confidence", "Network Delay",
"Map", "Name", "Remarks (if Any)" and other information of the robot are displayed on the ro-
bot tab.

7.2 Map Building and Editing

Precondition: The robot is connected, and the robot model has been successfully configured and syn-
chronized.

1. Map Building

a. 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.

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b. Click [Map Building] --> [SLAM], do not modify any parameters in the pop-up interface (generally,
there is no need to modify the parameters of this interface), and click the [OK] button.

c. 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.

d. Wait for the completion of the map building, and then click the [Save] button in the upper right
corner.

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 7. Debugging

e. Select the desired path and enter the desired name in the pop-up interface to save the map.

f. After it is saved successfully, a dialog box will pop up to ask whether to open it. Select [Push the
Map and Open it] to open the map just built and synchronize the map, which can be used directly.
At this point, the map building part has been completed.

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Description: If you select [Open], the map just built will be opened, and a dialog box with inconsistent
map data will pop up. Select [Push the Map], [Pull the Map] or [Cancel] according to your needs.

7.3 Path Navigation and Obstacle Verification

Precondition: There are at least two sites on the map which are connected by a Bezier curve.

The robot conducts path navigation on the path: Click [Path Navigation] in the module toolbar, and
then click a site, such as clicking the point LM2; the robot will perform path navigation along the
path to the destination point (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.

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 7. Debugging

Description: If there is an obstacle on the path, the robot will stop in front of the obstacle in the
navigation process, and will not run further until the obstacle disappears. The blocking reason
will be displayed in the status bar.

7.4 Setup and configuration of fork action AP workstation

a. Use the robot to build a map in the area where the robot needs to work.
b. Establish the AP point on the shelf and place it in the daily work position.
c. Configuration of workstation

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7.4.1 Workstation (AP)

AP point is a workstation where the forklift works, such as picking, unloading or recognizing and
picking pallet etc. since the forklift fork is at its tail, the forklift runs in the following path when
picking and unloading: Backward LM→AP or forward AP→LM.
7.4.2 Special workstation (charging point (CP))

CP point is for forklift to charge the battery. The forklift is controlled via roboshop or dispatching
system for charging. The forklift shall be driven into and out of the charging point directly, but shall
not change direction at the charging point.
Notice: The points on the main path should not be directional, but the start points may be set
between AP point and main path if the distance between the main path and the warehouse lo-
cation when the warehouse location (which refers to the AP point with action recognized) or
charging point is near the main path and the robot needs to enter the warehouse location di-
rectly from the main path; otherwise, the start point should be placed on the main path.

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7.4.3 Work Route

Notice: The properties on the route when entering and leaving the AP point shall be set to
LM→AP backward, AP→LM forward, and inspect carefully after the drawing is completed to
prevent accidents in use.
The forklift has two working modes - recognition mode and non-recognition mode. According to
working modes of the forklift and the size of the site space, the corresponding route also has the
difference as shown in the following example:
7.4.3.1 With recognition and rich site space
When the forklift is in the working mode with recognition and rich site space, the route of forklift
shall be drawn into “dead end highway”, i.e. the forklift enters and leaves along two separate routes
and runs unilaterally (pay attention to the gap between the cargo and the shelf to avoid collision when
running in arc route).
The specific operations are as shown in the figure below:

The route for the forklift to enter the warehouse location shall be set into unilateral route, so that the
forklift has to drive out of the warehouse location from another route. The sites shall be adjusted
according to the actual locations. The sites and routes can be coincided, and the connecting lines
between the sites should be distinguished clearly. Special attention should be paid when drawing to
avoid accidents.
7.4.3.2 Without recognition but with rich site space
When the forklift is in the working mode without recognition but with rich site space, it can drive in
and out of the warehouse location in an arc route.
As shown in the figure below:

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7.4.3.3 Small site space (with or without recognition)

When the site space is small and the distance between the warehouse locations does not allow driving
of forklift in an arc route, the route should be drawn into an angle.
As shown in the figure below:

7.5 Navigate the Path to Specified Point and Execute the Corresponding Action
The forklift picks up in two modes: recognition mode and non-recognition mode.
 Recognition Mode: It refers to the mode in which 3D recognition camera is used to recognize the
location and height of the shelf for picking up the cargo; it is necessary to set a start point in front
of the shelf for the AP point on the map, but it is unnecessary to set AP points precisely. Note:
Refer to 7.7 Recognition for detail.
 Non-recognition Mode: It refers to the mode for the robot to pick up cargo along the route preset
on the map; AP point is the position for the robot to pick up cargo. It is necessary to determine a
start point for setting entering height and set AP points precisely.
 Precondition: Confirm that the localization status of the robot is normal, and the path between the
destination point and the current location of the robot is unobstructed.
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a. Load/Unload in Non-recognition Mode: Click [Path Navigation] in the module toolbar, click the
target site with the left button, select [Execute Action AP35] in the popup dialog box, check off
the option [Recgnize] in the dialog box, input Start Height and End Height in the dialog box and
then select the option “Load/Unload”; the robot will execute the action of Start Height at the start
point of AP35, execute the action of End Height and then perform the corresponding action of
Load/Unload;
b. Load/Unload in Recognition Mode: Click [Path Navigation] in the module toolbar, click the target
site with the left button,select [Execute Action AP35] in the popup dialog box, and check the
option [Recgnize] in the dialog box;the robot will reach the start point of AP35 automatically for
recognition and then rise the fork to the shelf height for lifting;

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7.6 Upper computer controls the rising/dropping of forklift

Upper computer controls the rising/dropping of forks: After confirming that the robot is in normal re-
localization status, click the button P on the right bottom corner of Roboshop.
a. If clicking [Rise forks], the robot forks will rise to the maximum height from the present position;
b. If clicking [Drop forks], the robot forks will drop to the minimum height from the present position;
c. If clicking [Stop], the robot will stop the forks in motion (rising or dropping);
d. If inputting designated height (e.g. 1m) in [Set fork height], the forks will rise to 1m;

7.7 Recognition
If the forklift is fitted with 3D camera, it can recognize before forking the cargo, so as to implement
more precise operations by adjusting the relative position between the fork tooth and the cargo. The
following presents two recognition modes - pallet recognition and material cage recognition with
PERCIPIO camera as an example:
7.7.1 Pallet Recognition
Specific Operations and Parameter Setting
Refer to

https://seer-group.yuque.com/ui8dn8/chc43y/hn2dmc

https://seer-group.yuque.com/ui8dn8/ult9ds/snr17b
1. Before the forklift recognizes the pallet, the pallet data should be preset as follows: In [recognize
file]--[pull out all], check [p001] in [pallet] on the left to change parameters or right click “Copy
and add” to create a new pallet, change the pallet parameters and click [push all] to push the
changed pallet recognition file to the robot.

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2. Set three sites on the map: LM1, LM2 and AP3. Connect them successively, set LM2→AP3 as
driving backward, click AP3 to change the [Execution object] into “fork”, change [recognize
model file] into “p001.pallet” (the specific file should be selected according to the actual situa-
tion), save it and push to the map.

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 7. Debugging

3. Click [path navigation], move to AP3, click it with left button, select to execute the action AP3,
check [Recognize] in the operation box and click [Load] to send the instruction.

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7.7.2 Material Cage Recognition

Specific Operations and Parameter Setting
Refer to

https://seer-group.yuque.com/ui8dn8/chc43y/rodr31

https://seer-group.yuque.com/ui8dn8/ult9ds/snr17b

1. Before the forklift recognizes the material cage, the material cage data should be preset as follows:
In [recognize file]--[pull out all], check [t001] in [tag] on the left to change parameters or right
click "Copy and add" to create a new material cage, change the material cage parameters and
click [push all] to push the changed material cage recognition file to the robot.

2. Set three sites on the map: LM1, LM2 and AP3. Connect them successively, set LM2→AP3 as
driving backward, click AP3 to change the [Execution object] into "fork", change [recognize
model file] into "p001.pallet" (the specific file should be selected according to the actual situa-
tion), save it and push to the map.

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3 Click [path navigation], move to AP3, click it with left button, select to execute the action AP3,
check [Recognize] in the operation box and click [Load] to send the instruction.

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7.8 Error Code

When an error is reported in the robot, the corresponding causes can be ascertained in the document
according to the error code in the Roboshop.

https://seer-group.yuque.com/ui8dn8/xwnsrg/append-b_gapm1u

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 8. Application

8. Application

8.1 Optional Parts for External Module

Name of Op-
Model Location Purpose
tional Parts
Front middle posi-
tion of forklift,
3D laser vision To detect the obstacles on non-
designated height
(Obstacle avoid- DJI Livox Mid-70 laser scanning surfaces in the
range area,
ance) driving direction of the forklift.
installation orienta-
tion: Ground

Rear position of
3D camera forklift,
Recognize the pallet to ensure
(pallet recogni- Installation orienta- accurate connection of forklift
tion) tion: fork tooth di-
PERCIPIO rection
FM851-E2
Rear position of To carry out secondary locali-
3D camera
forklift, zation by recognizing the QR
(QR code recog- code to ensure accurate connec-
Installation orienta-
nition) tion of forklift
tion: QR code area

HOKUYO
UST-05LN Left and right ob-
Obstacle avoid- stacle avoidance la- To detect the obstacles for ob-
ance laser sers on front part of stacle avoidance
Hinson
forklift
CNS-LS05I

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 9. Product Maintenance

9. Product Maintenance

9.1 Maintenance Instructions

Before performing any maintenance or troubleshooting activities, please read the content of this chap-
ter, this manual and other related manual carefully to understand the safe maintenance and trouble-
shooting procedures fully.
Only authorized personnel who have passed safety training and other related training can maintain
the robot system. Other related training includes training on robot system and training on maintenance
organized by the manufacturers, distributors, and local importers.
Operators shall participate in safety training in accordance with national regulations.

Operation Precautions for Robot Parts

 Only approved parts can be used.
 If unapproved parts are used without authorization, we will not bear any responsibil-
ity. We will not responsible for any damage to the robot, accessories or any other
equipment caused by the use of unapproved parts.

Maintenance Precautions for Robot

 Perform maintenance in strict accordance with the description in this manual. Do not
dismantle or change any parts not described in this manual without authorization.
Wrong dismantling, changing parts, or wrong maintenance may cause the robot sys-
tem to work abnormally and cause serious safety problems.
 When you need to enter the working area of the robot under emergency, stop the
system.
 Please carry out maintenance and repair activities in the designated maintenance
area. 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 sud-
denly when it receives the system instructions.

9.2 Regular Maintenance

9.2.1 Regular Replacement of Critical Safety Parts
 It is difficult to identify damage or breakage for some parts through regular maintenance. To
further improve safety, users shall replace the parts given in the table below on a regular basis.
 If those parts become abnormal before the replacement interval expires, they shall be replaced
immediately.

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Service life
S/N Name of Critical Safety Parts
(years)

1 Hydraulic hoses for lifting system l～2

2 Lifting chain 2～4

3 High-pressure rubber hoses and hoses for hydraulic system 2

4 Internal seals and rubber parts for hydraulic system 2

9.2.2 List of Forklift Oils

Capacity
S/N Name Designation/ code Remarks
(L)
1 Gear oil 80W/90 1.15 Gearbox
2 Industrial Vaseline 2# On demand Battery posts
Each bearing of front
GB491-65ZG-2 calcium-
3 wheel and balanc- On demand 480h
based grease
ing wheel
Other moving fitting GB491-65ZG-2 calcium-
4 On demand 480h
surfaces based grease
L—HM32 Winter
Hydraulic oil
5 Hydraulic oil On demand
L—HM46 Summer tank

9.2.3 Maintenance List

Operate according to the maintenance list below and follow the respective intervals, which are de-
tailed below:
W1 = Every 50h of operation, but at least once a week.
M3 = Every 500h of operation, but at least once every 3 months.
M6 = Every 1,000h of operation, but at least once every 6 months.
M12 = Every 2,000h of operation, but at least once every 12 months.

Maintenance intervals
Standard = ● Cold Storage = #
Component S/N Maintenance Method W1 M3 M6 M12
Inspect all load-bearing parts for dam- ●
Body and 1.1
age
working de-
vices Inspect all bolt connections for loose- ●
1.2
ness
Inspect the transmission system for ●
Drive Part 2.1
noise and leakage

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 9. Product Maintenance

Maintenance intervals
Standard = ● Cold Storage = #
Component S/N Maintenance Method W1 M3 M6 M12
Inspect the level of gear oil in the ●
2.2
transmission system
2.3 Replace gear oil # ●
3.1 Inspect for wear and damage ●
Wheel Part Inspect the bearings in the wheels and ●
3.2
ensure a tight fit with the wheels
Steering Sys- Inspect the movement of steering con- ●
4.1
tem trol
Inspect the performance and adjust- ●
5.1
ment of the foot brakes
Braking Sys- Inspect the wear of the drive wheel ●
5.2
tem brake discs
Inspect the brake coupling, and adjust ●
5.3
if necessary
Inspect its performance and wear pat- ●
6.1
tern, and adjust
Lifting Device 6.2 Visually inspect rollers for jamming ●
Inspect the fork head and slide frame # ●
6.3
for wear and damage
7.1 Performance Inspection # ●
Inspect all connection parts for leakage # ●
7.2
and damage b)
Inspect whether there is leakage and # ●
damage to the hydraulic cylinder and
7.3
Hydraulic whether the accessories are safe and re-
System liable
7.4 Inspect the oil volume # ●
Replace hydraulic oil and filter element ＃ ●
7.5
c)
Inspect whether each cylinder is nor- ＃ ●
7.6
mal
8.1 Performance Inspection ●
Inspect whether all wire connections ●
Electrical sys- 8.2 are safe and reliable, and where there is
tem any damage
Inspect whether the fuse amperage is
8.3
appropriate

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Maintenance intervals
Standard = ● Cold Storage = #
Component S/N Maintenance Method W1 M3 M6 M12
Inspect whether the switches and steer- ●
8.4 ing devices are safe and reliable, and
whether they function properly
Inspect the forward and reverse ●
8.5
switches and acceleration knob
Inspect whether the function of warn- ＃ ●
8.6
ing device is correct
Inspect the wear of carbon brush and ●
9.1
commutator (pump station motor)
Motor 9.2 Inspect the safety of motor attachments ●
Clean the dust on the motor with vac- ●
9.3
uum cleaner
Inspect the electrolyte density, capacity ＃ ●
10.1
and battery voltage
Inspect the safety devices and grease ＃ ●
10.2
suitability of terminals
Battery
Clean the battery connectors and in- ＃ ●
10.3
spect the fit tightness
Inspect battery cables for damage and ●
10.4
replace if necessary
Lubricating Grease the forklift according to the lu- ＃ ●
11.1
Oil brication schedule
Inspect the grounding of electrical sys- ●
12.1
tem for errors
Inspect the driving velocity and brak- ●
12.2
General Meas- ing distance
urement Inspect the rising/dropping velocity, ●
12.3
forward/reverse tilting and side shift
Inspect the safety devices and safety ●
12.4
functions
13.1 Perform test runs under rated load ●

Demonstration After completing the above mainte- # ●

13.2 nance operations, prove that the forklift
is reliable for personnel

 Inspect the tightness of the nuts on the wheels approximately after first 100h of operation; tighten
them if necessary.
 Inspect hydraulic system connections for leakage approximately after first 100h of operation;

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 9. Product Maintenance

tighten them if necessary.

 After the first 500h of operation.

9.3 List of Wearing Parts and Major Components

S/N Name S/N Name

1 Load-carrying wheel 15 (Steering) proximity switch

2 Bearing of load-carrying wheel 16 Oil-free bearings

3 Balancing wheel 17 Handle nitrogen spring

4 Bearings of balance wheel 18 Key switch

5 Carbon brush of steering motor 19 Emergency stop switch

6 Drive wheel 20 Rising contactor

7 Phenolic bushings 21 Control handle assembly

8 Handle microswitch 22 Mast bearing

9 (Mast) proximity switch 23 Horn

9.4 Forklift Repair

9.4.1 Diagnosis

Phenomenon Troubleshooting

a.There is air trapped in the lifting cylinder. The air can be bleed off by lift-
1. Tremble ing/lowering under load for several times.
when lifting
b.The oil level in hydraulic system is low. It is necessary to add hydraulic
oil.

a．The oil leaks from pipeline or oil circuit joints. Tighten or replace the
2. Drop auto- seals.
matically under b．The solenoid directional valve, one-way valve and overflow valve get
load. stuck by dirt inside or the seal ring gets worn, resulting in internal leak-
age. Clean the valves and replace the seals.

a．The oil level in oil tank is low. Add hydraulic oil or replace the oil.
b．The oil filter is blocked. Clean it with kerosene or replace it.
3. The rising c．The pressure of safety valve is insufficient. Re-adjust it.
velocity is too d．The excessive wear of oil pump causes internal leakage. Replace the oil
low or it cannot pump.
rise.
e．The solenoid directional valve, one-way valve and safety valve are worn
or the seals are worn or aged. Replace them.
f．The pipeline is blocked or leaks oil. Clean the oil pipeline or replace the

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 9. Product Maintenance

Phenomenon Troubleshooting
seals.
g．The hydraulic oil is deteriorated or the viscosity declines, resulting in
leakage. Replace the hydraulic oil.

4. Abnormal
rattling sound is a．Hard debris is mixed in the lubricating oil. Replace the lubricating oil.
emitted from the b．The bearing is excessively worn or damaged. Replace it.
driving wheel.

5. The electro- a．The control circuit is not disconnected. Inspect the control system.
magnetic brake
fails b．The brake friction pad is worn. Replace it.

a． Inspect whether the key switch and emergency stop switch are turned
on or damaged.
6. It does not b． Inspect whether the battery is charged. If the battery level is low, it is
work at all. necessary to recharge it.
c． Inspect whether the power socket is plugged in tightly, whether the
emergency switch is disconnected, and whether the fuse is blown.

a． The microswitch in the control switch is loose or fails, or the spring of

7. It cannot rise reset switch is loose. Tighten the screw.
or drop. b． The hydraulic valve pipeline is blocked. Clean the pipeline.
c． The DC contactor connection for rising/dropping is loose or fails.

8. The dropping
a． The flow rate of overflow valve is too high. Adjust the overflow valve
velocity is too
accordingly.
high.

a． The battery level is low. Recharge the battery.

b． Adjust the overflow pressure of the hydraulic station.
c． The hydraulic oil pipeline leaks oil. Inspect the hydraulic oil pipeline.
9. The load can-
not be lifted. d． It is overloaded. Reduce the load.
e． The oil pipeline of hydraulic valve is blocked. Dredge the hydraulic oil
pipeline.
f． The hydraulic lifting motor is faulty. Repair it.

10. It rises auto-

a． The DC contactor switch fails. Repair or replace it.
matically.

a． The battery level is low. Recharge the battery.

11. It cannot b． The driving control microswitch is loose. Tighten the screw.
drive forward or
backward. c． The DC contactor fails. Repair or replace.
d． The electric control panel is damaged. Repair or replace it.

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 9. Product Maintenance

Phenomenon Troubleshooting
e． The driving motor is faulty. Inspect and repair it.
f． The wheel gets locked. Adjust the spacing between brake pads of driv-
ing wheel.
12. The forklift
a． The red brake pedal on the control handle gets stuck. Inspect and adjust
always drives
its position, or replace the spring.
forward.

a． The battery electrolyte level is low. Replenish distilled water or plumbic

acid.
b． The battery is over-discharged and has not been recharged timely. It is
13. The battery
necessary to repair and recharge the batter pack timely according to the
life is short.
operation and maintenance instructions for battery, so as to resume the
dead battery.
c． The battery is aged. Replace the battery.

a． The power socket is in poor contact. Repair the contact surface.

14. The battery
cannot be re- b． The battery is serious under voltage. Replace the battery.
charged. c． The charger is damaged. Replace the charger.

a． There is no display on the charger. The fuse is blown.

b． The power indicator of charger is lit, the internal fuse is open-circuited
or the fuse is open-circuited or the rectifier tube is damaged.
15. The charger
does not work. c． Inspect whether the battery is not connected properly, is short-circuited
or is not connected at all, whether the over-temperature protection is
triggered and whether the charging voltage meets the battery specifica-
tion.

9.4.2 Preparation before Repair

To avoid accidents in the repair and maintenance process, the following preparation must be done:
 Park the forklift safely.
 Press the emergency stop switch and disconnect the battery connector.
 When the forks are to be lifted or the forklift is to be lifted before operation, measures must be
taken to prevent the forks or forklift from tipping or slipping or falling suddenly.
9.4.3 Inspect the hydraulic oil level
 Prepare the forklift for repair and maintenance.
 Lift the pedal pad hole and the filler cover plate hole on the front floor.
 Inspect the hydraulic oil level in the tank.
 When inspecting the hydraulic oil level, the forks and fork CARR must be lowered to the lowest
position.

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 9. Product Maintenance

9.4.4 Inspect the brake fluid level.

 Inspect the amount of brake fluid in the container on the left side of the body. If the brake fluid is
insufficient, it shall be added in time.
9.4.5 Preparation before usage after maintenance:
Use the forklift again only after the following operations have been completed.
 Clean the forklift.
 Inspect whether the safety frame, tyres and mast are mounted firmly.
 Inspect whether the brake function is normal.
 Inspect whether the function of the emergency stop switch is normal.
 Inspect whether the function of the horn is normal.

9.5 Cleaning
9.5.1 Floor Cleaning
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

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 9. Product Maintenance

Anti-electrostatic Floor - Slight Traces

Ground Cleaning Requirements:
 Inspect the floor every day, and clean the dust, foreign matter and liquid contaminant timely for
the purpose of preventing the robot sliding.
 Clean up the traces of the universal wheel on the floor timely for the purpose of avoiding serious
traces.
 Do not wax the ground on the path of the robot; otherwise, it may cause the wheels of the robot
to slip or become dirty.
9.5.2 Robot Cleaning
Before cleaning, please shut down the robot as follows:
 Park the forklift at the specified position.
 Press the emergency stop switch.
 Turn off the key switch and remove the key.
 Unplug the battery.
9.5.2.1 Clean the forklift surface.
 Do not use flammable liquids to clean the forklift; take safety measures to prevent short-circuit.
 Clean the forklift with water and soluble detergent.
 Carefully clean the oil filler and the surrounding area of the lubrication nozzle.
 If forklift is cleaned frequently, please lubricate it in time.
9.5.2.2 Clean the chain.
 Do not use corrosive liquids such as chemical detergents and acidic liquids to clean the chain.
 Place a container under the mast.
 Use petrochemical derivatives such as gasoline to clean the chain.
 Do not add any additives when cleaning with steam nozzle.
 Dry the water stains on the chain pins and chain surface immediately after cleaning.
9.5.2.3 Cleaning of Electrical System
 Do not clean the pump control and various connectors with water to avoid damage to the electrical
system.
 Use a non-metallic brush or a low-powered hair dryer to clean the electrical system according to
the manufacturer’s instructions but do not move the protective cover.
9.5.2.4 After cleaning
 Thoroughly dry the water stains on the forklift (e.g. using compressed air).
 Start the forklift according to the procedure.

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 9. Product Maintenance

 If moisture penetrates the motor, it must be removed first to prevent short-circuit.

 Moisture will reduce brake performance. Apply braking for the forklift briefly and repeatedly to
dry the brakes.
9.5.3 Laser Cleaning

Precautions for Laser Cleaning

 If the laser is not cleaned or is cleaned improperly, it may cause the fol-
lowing problems:
1) The robot can’t detect the sign/pallet rack.
2) The robot enters the emergency stop state without clear reasons.

Please clean the laser according to the following instructions; otherwise, it may cause damage to the
laser lens or malfunction:
 Keep the laser lens surface clean, and clean up the dust regularly.
 Please use a special cleaning cloth.
 Do not dry-wipe the laser lens surface. Please use a dampened soft cloth to clean, and add a little
detergent if necessary.
 Do not use corrosive solvent-based detergent, such as acetone.

9.6 Storage
9.6.1 Storage of Robot
 If it is to be stored for more than 2 months, the robot must be parked in a freezeproof and dry
place, with the required protective measures taken before storage.
 If it is to be stored for more than 6 months, please refer to the manufacturer’s service department
for some additional protective measures.
 During storage, it is recommended that the forklift be jacked up to ensure that the wheels are
completely off the ground to protect the wheels and bearings from being damaged.
9.6.1.1 Operations to be completed before storage
 Clean this forklift thoroughly.
 Inspect whether the braking function is correct.
 Inspect the hydraulic oil level. Fill up the oil tank if necessary.
 Apply oil or grease to all parts for protection.
 Lubricate this forklift with grease against the detailed lubrication table.
 Recharge the battery.
 Disconnect and clean the battery and apply electrode grease to the electrodes of the battery.
In addition, some special requirements in the battery’s instruction manual must also be observed.

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 9. Product Maintenance

9.6.1.2 Measures to be taken during storage

 The battery must be recharged every 2 months.
 It is very important to charge the battery regularly. Otherwise, the battery can be completely self-
discharged. Due to sulphation, the battery will be completely destroyed.
9.6.1.3 Carry out test run again.
 After the forklift has been parked for a long time, it should be tested again before usage again to
make sure that all parts of the forklift are intact and all functions are running properly to ensure
that the forklift can be used safely.
 Clean the forklift thoroughly.
 Lubricate the forklift according to the lubrication table.
 Clean the battery, apply electrode grease to the electrode bolts and reconnect the connectors.
 Recharge the battery.
 Inspect the gearbox oil of the driving wheels for moisture and replace it if necessary.
 Inspect the hydraulic oil for moisture and replace it if necessary.
 If the switches of the electrical system are in poor contact, spray all exposed electrical connectors
with contact cleaner to remove the oxide layer from these connections.
9.6.2 Charger Storage
 When the charger is not in use, it shall be placed in the packaging box.

 The limit temperature of the warehouse shall be -20 to 70 , the normal temperature shall be -20
to 50 , the relative humidity shall be 5-90%, and there shall be no harmful gas, flammable,
explosive, corrosive and other chemicals in the warehouse, or strong mechanical vibration, shock
and magnetic field influence.
 The packaging box must be placed at least 20cm high from the ground and 50cm away from the
wall, heat source, and vent. 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.

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 10. Specification of Effective Loads

10. Specification of Effective Loads

The following diagram illustrates the center-of-mass specifications for safe operation under full load
(1,500KG). (c refers to the load center which is 500mm)

Lifting Load Curve Nameplate

weight

Lifting height ≤3.0m

Load center(mm)

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 11. Software Update

11. Software Update

Follow these steps to update the robot software:

1. Obtain necessary software update packages through our distributors or after-sales channels.

2. Connect the prepared computer and the robot to the same network (both wired and wireless, please
set the appropriate IP address to ensure the normal connection between the computer and the
robot).

3. Open the browser (we recommend that you use Chrome to ensure compatibility) and enter the robot
IP address (the wired connection is 192.168.192.5, please determine the corresponding IP address
for wireless connection) to access the robot upgrade interface.

4. Select system upgrade and read the system upgrade steps carefully.

5. Click upload. Find and select the obtained software package.

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 11. Software Update

Generally, the package name starts with Robokit. Upload the zip package directly. Do not decompress
the package.

6. Wait until the software package is uploaded, as shown in the following figure:

It may take several minutes for the software package to be uploaded. Make sure the network connec-
tion is stable.

7. The entire upgrade process may take several minutes. Please wait patiently. Do not perform any
operations on the robot during the upgrade. The following prompts indicate that the upgrade is
complete:

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 11. Software Update

8. After the upgrade is completed, the robot automatically restarts for the update to take effect.

9. Click version information to view the software version of the robot, as shown in the following
figure:

Note: If the upgrade fails, please try to upload it again or contact our after-sales service.

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 Appendix I Schematic Diagram of SFL-CPD15-T Hydraulic System

Appendix I Schematic Diagram of SFL-CPD15-T Hydraulic System

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Notes:
The nature and application scope of the product described in
this document do not guarantee the attributes of the product,
and are only information available for understanding.
Our scope of supply and product services is subject to the terms
of the contract, and we reserve the right to change the technology
and modify the contents of the document. Wechat Service Wechat Subscription
Specifications and appearance may change with product

Telephone：400-762-9969
improvements. For the latest product information or after-sales
problems, please call our company or visit the official website.
It is strictly forbidden to copy, use or disclose any related
content to any third party without the permission of Shanghai Website：www.seer-group.com AMR.AI

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(CPD15-T)02V04-2109-EN