UD24570B - MR-Q3-600 AMR - User Manual - V1.0.0 - 20210712

MR-Q3-600
User Manual
MR-Q3-600 AMR User Manual
Legal Information
© 2021 Hangzhou Hikrobot Technology Co., Ltd. All rights reserved.
About this Manual
The Manual includes instructions for using and managing the Product. Pictures, charts, images and
all other information hereinafter are for description and explanation only. The information
contained in the Manual is subject to change, without notice, due to firmware updates or other
reasons. Please find the latest version of this Manual at the Hikrobot website
(https://en.hikrobotics.com). Please use this Manual with the guidance and assistance of
professionals trained in supporting the Product.
Trademarks
and other Hikrobot's trademarks and logos are the properties of Hikrobot in
various jurisdictions. Other trademarks and logos mentioned are the properties of their respective
owners.
Disclaimer
TO THE MAXIMUM EXTENT PERMITTED BY APPLICABLE LAW, THIS MANUAL AND THE PRODUCT
DESCRIBED, WITH ITS HARDWARE, SOFTWARE AND FIRMWARE, ARE PROVIDED "AS IS" AND
"WITH ALL FAULTS AND ERRORS". HIKROBOT MAKES NO WARRANTIES, EXPRESS OR IMPLIED,
INCLUDING WITHOUT LIMITATION, MERCHANTABILITY, SATISFACTORY QUALITY, OR FITNESS FOR
A PARTICULAR PURPOSE. THE USE OF THE PRODUCT BY YOU IS AT YOUR OWN RISK. IN NO EVENT
WILL HIKROBOT BE LIABLE TO YOU FOR ANY SPECIAL, CONSEQUENTIAL, INCIDENTAL, OR INDIRECT
DAMAGES, INCLUDING, AMONG OTHERS, DAMAGES FOR LOSS OF BUSINESS PROFITS, BUSINESS
INTERRUPTION, OR LOSS OF DATA, CORRUPTION OF SYSTEMS, OR LOSS OF DOCUMENTATION,
WHETHER BASED ON BREACH OF CONTRACT, TORT (INCLUDING NEGLIGENCE), PRODUCT LIABILITY,
OR OTHERWISE, IN CONNECTION WITH THE USE OF THE PRODUCT, EVEN IF HIKROBOT HAS BEEN
ADVISED OF THE POSSIBILITY OF SUCH DAMAGES OR LOSS.
YOU ACKNOWLEDGE THAT THE NATURE OF INTERNET PROVIDES FOR INHERENT SECURITY RISKS,
AND HIKROBOT SHALL NOT TAKE ANY RESPONSIBILITIES FOR ABNORMAL OPERATION, PRIVACY
LEAKAGE OR OTHER DAMAGES RESULTING FROM CYBER-ATTACK, HACKER ATTACK, VIRUS
INFECTION, OR OTHER INTERNET SECURITY RISKS; HOWEVER, HIKROBOT WILL PROVIDE TIMELY
TECHNICAL SUPPORT IF REQUIRED.
YOU AGREE TO USE THIS PRODUCT IN COMPLIANCE WITH ALL APPLICABLE LAWS, AND YOU ARE
SOLELY RESPONSIBLE FOR ENSURING THAT YOUR USE CONFORMS TO THE APPLICABLE LAW.
ESPECIALLY, YOU ARE RESPONSIBLE, FOR USING THIS PRODUCT IN A MANNER THAT DOES NOT
INFRINGE ON THE RIGHTS OF THIRD PARTIES, INCLUDING WITHOUT LIMITATION, RIGHTS OF
PUBLICITY, INTELLECTUAL PROPERTY RIGHTS, OR DATA PROTECTION AND OTHER PRIVACY RIGHTS.
YOU SHALL NOT USE THIS PRODUCT FOR ANY PROHIBITED END-USES, INCLUDING THE
DEVELOPMENT OR PRODUCTION OF WEAPONS OF MASS DESTRUCTION, THE DEVELOPMENT OR
PRODUCTION OF CHEMICAL OR BIOLOGICAL WEAPONS, ANY ACTIVITIES IN THE CONTEXT RELATED
TO ANY NUCLEAR EXPLOSIVE OR UNSAFE NUCLEAR FUEL-CYCLE, OR IN SUPPORT OF HUMAN
RIGHTS ABUSES.
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THE PERFORMANCE DATA IN THIS PUBLICATION IS BASED ON HIKROBOT'S INTERNAL

RESEARCH/EVALUATION. ACTUAL DATA MAY VARY DEPENDING ON SPECIFIC CONFIGURATIONS
AND OPERATING CONDITIONS AND HIKROBOT SHALL NOT BEAR THE CONSEQUENCES ARISING
THEREFROM.
IN THE EVENT OF ANY CONFLICTS BETWEEN THIS MANUAL AND THE APPLICABLE LAW, THE LATER
PREVAILS.
Symbol Conventions
The symbols that may be found in this document are defined as follows.
Symbol Description
Indicates a hazardous situation which, if not avoided, will or could
Danger
result in death or serious injury.
Indicates a potentially hazardous situation which, if not avoided,
Caution could result in equipment damage, data loss, performance
degradation, or unexpected results.
Provides additional information to emphasize or supplement
Note
important points of the main text.
Available Model
This manual is applicable to MR-Q3-600 automated mobile robot.
Safety Instruction
In the process of product use and maintenance, you must strictly abide by the various electrical
safety regulations of the country and region.
Fire Protection Requirement
● Design fire protection instructions (fire extinguisher, fire sandbox, emergency exit, firewall, etc.)
according to the national standard Code of Design on Building Fire Protection and Prevention.
● It is recommended to equip a dry power extinguisher or a fire sandbox in 5 m 2 for a single
charge station, or to design a safety house.
● When the AMR is on fire, the firefighters must wear a filter type gas mask (full face mask) or
isolation respirator, and wear full body fire-fighting and gas protective suits to put out the fire in
the upwind direction Foam extinguishers, foam fire extinguishers, dry powder extinguishers,
CO2 fire extinguishers, and fire sandbox can be adopted.
● No open flame in the AMR operation field.
Environment Requirement
● The AMR is designed for indoor environment, so it can be only used for indoor carrying.
● Working temperature: 0 °C to 40 °C (32 °F to 104 °F), Working humidity: 10 % to 90 % (no
condensation)
● Do not use AMR in environment with potential explosion hazard.
● The operation field must meet the requirement of Hikrobot standard. (Please see the specific
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requirements in Appendix A Field Requirement.)

● Fence is required and the staff is forbidden to enter the AMR working area.
● The working area should be kept clean. There should be no water, oil and other substances that
may cause the AMR to slip. When there are scattered materials on the ground, it must be
cleaned immediately.
● Do not run the AMR in the damaged environment of the working area, so as to prevent the AMR
from bumping and causing the goods to roll over.
● During the implementation of the project, ensure that the size and height of the roadway and
ceiling in the area are appropriate, and the AMR can run and will not scratch the ceiling when
lifting the fork in the roadway.
● Before transportation, it is necessary to check whether the packing wooden box is solid to
prevent the AMR from being damaged due to loose box.
● During transportation, severe vibration and turbulence shall be strictly prevented to avoid
severe mechanical impact on the AMR.
● In the process of loading and unloading, it is forbidden to throw, roll and heavily press.
● Do not put the packing wooden cases in the open air, expose them to the sun or rain.
● Use crane or forklift to carry the wooden box of AMR.
● It is strictly forbidden to place the packing wooden box in an inclined way.
● It is strictly forbidden to step on the packing wooden box.
● When unpacking, please wear labor protection gloves to avoid being scratched by tools or sharp
parts of packing wooden box.
● After unpacking, first confirm whether the functions of emergency stop button, pneumatic
bumper strip and obstacle avoidance laser sensor are normal.
● Make sure to use the slope to transfer the AMR from the wooden box to the ground. It is
forbidden to transfer AMR by manual handling.
● After unpacking, please keep the original packaging, paper instructions, etc. properly for the
subsequent use of the transport AMR.
Usage Requirement
● Train operators on the use, safety and maintenance of AMRs. Ensure that the operators comply
with the operating regulations and safety requirements, and have the ability to assess the
potential hazards of the work to be carried out.
● Only professional and technical personnel with proper training are allowed to operate AMRs. If
the AMR is used without permission, the operating company and the operator should take full
responsibility, not the manufacturer.
● No operating the AMR by unauthorized personnel.
● In order to ensure safety, all personnel entering the working area are required to wear safety
protection equipment such as safety helmet, labor protection shoes, reflective vest and labor
protection gloves.
● The operator shall strictly abide by this manual and the electrical safety regulations of the
country and the region.
● The AMR operates automatically and has no direct operator on the product.
● The workers in the field should wear personal PPE to reduce the harm of the noise generated by
the AMR in operation.
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● Do not operate the AMR when the limbs are with water, oil and other substances that may
cause slipping.
● When the AMR is working, no one is allowed to enter the working area of the AMR. Walking
into the running route of the AMR and walking towards the moving AMR may be collided and
crushed by the AMR.
● Before starting the AMR, make sure that there are no obstacles in the running area of the AMR.
● The patients with heart failure who need pacemaker and defibrillator cannot enter this area.
The electromagnetic field in this area will cause pacemaker and defibrillator failure.
● Indicators will flash when the AMR is working. Do not stare at the flashing indicator long time.
● If the AMR is in contact with any liquid: turn off the power supply of the AMR firstly, remove the
liquid as far as possible, and do not restore the power supply before the AMR body is dried.
● Do not put hands under the turntable of the latent AMR or in the middle of the roller of the
roller AMR.
● When manual cart is needed to transfer latent and mobile AMRs, both hands should be placed
on the back panel. Please do not put them on the turntable or in the gap between the turntable
and the AMR body to prevent hand clamping.
● Do not walk, stand or sit on the fork of the forklift AMR.
● When the AMR stops working, it doesn't have to be about getting the job done, because the
AMR is probably waiting for the next task.
● Do not lean on the AMR.
● Do not press the operation button at will.
Check Device
● Check the AMR before using to make sure each components can work normally.
● Follow the requirements to maintain the AMR, do not use a failure AMR.
● Make sure there is no people in the working field and operation route before you start the
AMR.
● The AMR equipped with safety devices. If the safety devices has any exception, you need to
power off the AMR immediately and stop using it.
○ Emergency stop button: Press it to stop the AMR when there is an exception occurs.
○ Pneumatic bumper strip: The AMR will stop and send alarms when an obstacle crash into the
pneumatic bumper strips.
○ Obstacle avoidance sensor: The AMR will decelerate or stop when the sensor detects there is
an obstacle.
● Set the AMR speed, acceleration, deceleration, and spanning speed according to recommended
values.
Loading Requirement
● Do not use the AMR to carry people or animals.
● Do not use the AMR to carry, drag and fork another AMR.
● Make sure the goods carried by the AMR are in a stable structure, and the load must be evenly
and symmetrically placed on the AMR.
● Do not load eccentric goods.
● Make sure the goods carried by the AMR meet the load bearing standards and size standards of
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AMR.
● Do not transport goods exceeding the rated load of the AMR. (See the AMR body nameplate for
rated load information. The load curve of the forklift AMR is needed to place the goods.)
Overload will affect the braking distance and stability of the AMR.
● Make sure the total weight of goods and AMR meets the load capacity of the ground.
● Make sure the elevator can withstand the total weight of the AMR, goods, and the operator
before the AMR entering.
Parking Requirement
● Design a storage area for free AMRs in advance.
● Do not put an AMR on a slope unattended.
● Do not park an AMR at exits or near extinguishers.
● Make warning marks if you need to park it in somewhere temporarily.
Battery Requirement
● Only use the original charge station to charge the AMR.
● Keep good ventilation and no fireworks when charging.
● The operator need to wear glasses and gloves during the battery checking.
● If any liquid splashes on your skin or into your eyes, you should rinse it immediately and see
doctor in time.
● Do not press and disassemble the battery. Any battery damage may cause battery burning or
explosion.
● Do not wet the battery.
● Do not use water to extinguish fire, instead, use a foam fire extinguisher, dry powder
extinguishers and fire sand to extinguish fire.
● Move or store batteries when them are in 50 % power.
● Fully charge the AMR before storing it for a long time and do charge maintenance every three
months.
● The maximal charge circulation ranges from 1000 to 1500 times. Replace the battery before it
used out.
● Dispose the battery according to local rules and regulations.
● Divide a special area for charging to prevent crashes in advance.
Maintenance
● Arrange professional maintenance personnel to regularly maintain the AMR in accordance with
the AMR maintenance manual and maintenance checklist.
● During project planning, maintenance areas must be divided. AMR maintenance can only be
carried out in the maintenance area, and it is strictly forbidden to maintain in the working area.
● The power supply of the AMR must be turned off before maintenance, and live maintenance is
strictly prohibited.
● The AMR must be placed on the truck to replace the caster, battery, location code camera
(reading terminal, camera components) and other operations that need to be suspended.
● The AMR belongs to large and heavy equipment. It is strictly forbidden to carry and roll the AMR
manually.
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● When maintaining the AMR rotating parts, such as drive components, electric lifting mechanism
and rotary mechanism, it is strictly forbidden to wear gloves to prevent the gloves from being
stuck by the parts.
● When maintaining other parts except the rotating parts, the maintenance personnel must wear
work gloves to prevent some sharp parts or the sharp edge of the AMR itself from being
stabbed.
● Without the consent of the manufacturer, the product manual, signboard, mechanical structure,
electronic system and software shall not be modified, and the third-party installation parts shall
not be used, otherwise the warranty qualification will be cancelled.
● The manufacturer shall not be responsible for the personal and property losses caused by the
replacement parts or modified parts.
Elevator Requirement
● Arrange professional maintenance personnel to repair and maintain the elevator regularly
according to the maintenance requirements of the elevator.
● According to the site environment, plan a safe area for duty personnel. The safe area cannot be
on the running route of the AMR.
● Do not use the elevator for AMR to transport people.
● Matters needing attention when elevator is abnormal:
○ First of all, the AMR should be suspended by means of AMR control platform, monitoring
client, or emergency stop button.
○ In the AMR remote control platform, disable all routes to the elevator.
○ Warning signs shall be placed at the door of elevator to prohibit non-professional
maintenance personnel from entering.
○ Inform the monitoring center to monitor the elevator status.
○ Arrange engineering personnel to enable the elevator manual mode in the machine room,
and place warning signs at the door of the machine room to prohibit non-professional
maintenance personnel from entering.
● The engineers manually adjust the elevator to the flat floor. If the AMR is in the elevator,
manually push out the AMR or use the forklift to push out the AMR and empty all the
equipment in the elevator, and then carry out the next step of maintenance.
Contact Information
Hangzhou Hikrobot Technology Co., Ltd.
No. 399 Danfeng Road, Binjiang District, Hangzhou, 310051, China
E-mail: tech_support@hikrobotics.com
Website: https://en.hikrobotics.com/
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Contents
Chapter 1 Overview.................................................................................................................... 1
1.1 Introduction ........................................................................................................................... 1
1.2 Key Feature ............................................................................................................................ 1
1.3 Safety Components ............................................................................................................... 1
Chapter 2 AMR Package ............................................................................................................. 3
2.1 Tool Preparation .................................................................................................................... 3
2.2 Unpack AMR Package............................................................................................................ 3
Chapter 3 AMR Transportation ................................................................................................... 7
3.1 Pack AMR ............................................................................................................................... 7
3.2 Transport AMR ...................................................................................................................... 7
Chapter 4 Appearance ................................................................................................................ 8
Chapter 5 Get Started................................................................................................................. 9
5.1 Power on and Start AMR....................................................................................................... 9
5.2 Check AMR Manually ............................................................................................................ 9
5.2.1 Power-on Self-Check .................................................................................................. 9
5.2.2 Check Emergency Stop Button................................................................................... 9
5.2.3 Check Pneumatic Bumper Strip ............................................................................... 10
5.2.4 Check Lifting Structure, Location Code and Goods Code........................................ 10
5.3 Pause AMR ........................................................................................................................... 10
5.4 Power off and Stop AMR..................................................................................................... 11
5.5 Move AMR ........................................................................................................................... 11
5.5.1 Move AMR Manually ............................................................................................... 11
5.5.2 Move AMR via App .................................................................................................. 11
5.6 Charge AMR ......................................................................................................................... 14
5.6.1 Charge Automatically ............................................................................................... 15
5.6.2 Charge Manually ...................................................................................................... 15
5.6.3 Charge AMR via Handheld Power Supply ............................................................... 17
Chapter 6 Component Introduction .......................................................................................... 19
6.1 Indicator ............................................................................................................................... 19
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6.2 LCD Screen ........................................................................................................................... 19

6.2.1 Home Page ................................................................................................................ 20
6.2.2 Status Information ................................................................................................... 20
6.2.3 Manual Control......................................................................................................... 22
6.2.4 Configuration Information ....................................................................................... 23
6.2.5 Health Information ................................................................................................... 25
6.3 Power Switch ....................................................................................................................... 25
6.4 Emergency Stop Button....................................................................................................... 25
6.5 Pause/Resume Button ........................................................................................................ 25
6.6 Auto/Manual Button ........................................................................................................... 25
6.7 Reset Button ........................................................................................................................ 26
6.8 Safety Laser Sensor ............................................................................................................. 26
6.9 Ultrasonic Sensor................................................................................................................. 27
6.10 Infrared Sensor .................................................................................................................. 28
6.11 Pneumatic Bumper Strip ................................................................................................... 28
6.12 Recharge Port .................................................................................................................... 28
Chapter 7 Obstacle Avoidance Area and Solution...................................................................... 30
7.1 Introduction ......................................................................................................................... 30
7.2 Obstacle Avoidance Area and Speed Settings (Contour Type) .......................................... 31
7.3 Obstacle Avoidance Area and Speed Settings (Area Type) ............................................... 33
7.4 Platform Settings ................................................................................................................. 34
Chapter 8 Basic Settings of RCS ................................................................................................. 36
8.1 Introduction ......................................................................................................................... 36
8.2 Create and Set Map ............................................................................................................. 37
8.3 Set Service............................................................................................................................ 37
8.4 Set AMR ............................................................................................................................... 37
8.5 Add AMR into RCS ............................................................................................................... 38
8.6 Move AMR via Monitor Client ............................................................................................ 38
Chapter 9 Alarm Handling ........................................................................................................ 39
9.1 Alarm Recovery ................................................................................................................... 39
9.2 Alarm Description and Solution .......................................................................................... 39
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Appendix A Field Requirement ................................................................................................. 44

Appendix B Wireless Network Requirement ............................................................................. 46
Appendix C IP Distribution........................................................................................................ 50
Appendix D Abbreviation ......................................................................................................... 51
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Chapter 1 Overview
1.1 Introduction
The automated mobile robot (AMR) is an important part of the smart warehouse solution, and it
solves the problems of high labor costs, low working efficiency, and error prone material
management in the traditional warehouse operation. The smart warehouse solution consists of
mobile robot, Robot Control System (RCS), and Intelligent Warehouse Management System
(iWMS). Following a core ideology of using robots to replace humans, the smart warehouse
solution can realize different warehouse businesses, and workers only need to carry out necessary
operations in the workstation.
1.2 Key Feature

● Self-localization navigation: adopts inertial and two-dimensional code navigation methods to
achieve accurate positioning.
● Supports smooth motions like forward, backward, and rotation via dual-wheel differential drive.
● Smart power management: supports multi-level electrical threshold, auto-charge, and
self-returning after charging completed.
● Multi-safety protection includes front laser obstacle avoidance, rear infrared obstacle avoidance,
side ultrasound obstacle avoidance, front/rear pneumatic bumper strip detection, front/rear
emergency stop button, etc.
● Supports carrying goods up to 600 kg (1322.77 lb.).
● Device status: indicates the device status via LCD screen, sound and indicators.
● Wireless communication: supports Wi-Fi and seamless roaming in a network covered area.
1.3 Safety Components
Danger
If the safety components have any exception, you need to power off the AMR immediately and
stop using it.
The AMR equips with the following safety components to ensure safe operation.
● Emergency stop button: Press it to stop the AMR when there is an exception occurs and
manually press the button for stop the AMR. (See Emergency Stop Button for details.)
● Pneumatic bumper strip: The AMR will stop and send alarms when an obstacle crash into the
bumper strips. (See Pneumatic Bumper Strip for details.)
● Obstacle avoidance sensor: The AMR will decelerate or stop when the obstacle avoidance
1
sensor detects there is an obstacle. (See Safety Laser Sensor, Ultrasonic Sensor, and Infrared
Sensor for details.)
Figure 1-1 Top View
Figure 1-2 Side View
2
Chapter 2 AMR Package
Note
● Before shipping, we carefully check each robot to ensure that the robot you received is intact
and fully equipped. However, you should check it immediately after you receive the robot in
order to discover any damage that may have occurred during transportation.
● Take good care of the original package for transporting the robot in the future.
2.1 Tool Preparation

● A pair of gloves.
● A straight screwdriver.
● A nail hammer.
● Slopes (included).
Figure 2-1 Tools
2.2 Unpack AMR Package

In order to avoid possible human or mechanical damage during transportation and handling, the
robot is packed in a buckle wooden box.
Steps
1. Place the wooden box in a large area, and make sure that there is a space of at least 3-meter
around the box.
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2. Use straight screwdriver to lever all buckles.
Figure 2-2 Lever Buckles

3. Use nail hammer to rotate all buckles.
Figure 2-3 Rotate Buckles
4
Figure 2-4 Rotated Buckle

4. Use nail hammer to lever four corners of the box, and remove the box cover and four walls.
Figure 2-5 Lever Corners

5. Take out the cover plate, foams, etc.
5
Figure 2-6 Unpacked

6. Use supplied tapes to connect separated slopes.
Note
For transportation convenience, 2 segments of slope plank are provided by default.
7. Place the slope in narrow side of the box, align it with the box, and use tapes to connect the
slope and the box.
Figure 2-7 Connect Slope and Box

8. Push down the robot along the slope.
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Chapter 3 AMR Transportation
3.1 Pack AMR
Note
Use the original package to pack and transport the AMR.
The original package includes buckle wooden box, and foams.
Steps:
1. Power off the AMR.
2. Follow the reverse order of unpacking AMR to pack the AMR.
3.2 Transport AMR

When transporting the AMR, you should use the forklift to transport it as shown below.
Figure 3-1 Transportation Diagram
Note
● When carrying the wooden box, the length of the forklift arm should be greater than the width
of the box.
● When carrying the wooden box, the forklift arm should be inserted from the width of the box
into the bottom of the box.
● The position of the forklift arm inserted into the bottom of the box should be centered so that
the two sides of the forklift arm load are basically the same.
● Keep the front side up and prevent water ingress during transportation. Avoid collisions when
lifting and scratches when unpacking.
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Chapter 4 Appearance
Figure 4-1 Main Components

Table 4-1 Main Components Introduction
No. Name
1 Emergency Stop Button
2 Safety Laser Sensor
3 Status Indicator
4 Ultrasonic Sensor
5 LCD
6 Charge Port
7 Reset Button
8 Power Switch
9 Pause/Resume Button
10 Auto/Manual Button
11 Pneumatic Bumper Strip
12 Recharge Port
13 Infrared Sensor
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Chapter 5 Get Started
5.1 Power on and Start AMR
Danger
● After the AMR is powered on, the operator should leave the working area of the AMR to avoid
interferences that may cause the AMR to be abnormal.
● Clear the obstacles on the operating site to ensure that the working area of the AMR is
unobstructed.
Steps
1. Make sure all emergency stop buttons are unlocked. If not, rotate the emergency stop button
clockwise and let it release automatically.
2. Press the power switch to power on the AMR.
3. Press the reset button to let the AMR self-check.
4. Press the pause/resume button to establish connection between the AMR and the RCS.
5.2 Check AMR Manually

To check following components manually, including the emergency stop button, pneumatic
bumper strip, lifting structure, etc.
5.2.1 Power-on Self-Check

Power on the AMR, press the reset button after the status indicator is solid red, and the AMR
starts to self-check automatically. The expected result: The turntable can smoothly rotate and be
able to back to the zero position.
5.2.2 Check Emergency Stop Button

Steps
1. Press the front emergency stop button.
The expected result: The status indicator is solid red with audio alarm. The LCD screen display
alarms.
2. Rotate the emergency stop button clockwise to let it eject automatically, and press the reset
button.
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The expected result: Status indicator is unlit, and audio and screen alarms stop.
3. Repeat steps above to check other emergency stop buttons.
5.2.3 Check Pneumatic Bumper Strip

Steps
1. Touch the front pneumatic bumper strip.
The expected result: The status indicator is solid red, and the LCD screen display alarms.
2. Press the emergency stop button, and then press the reset button.
The expected result: Status indicator is unlit, and screen alarms stop.
3. Repeat steps above to check other pneumatic bumper strips.
5.2.4 Check Lifting Structure, Location Code and Goods Code

Steps
1. Go to manual control.
2. Enable manual intervention, and enable location code.
3. Enable lifting/lowering.
The expected result: No error occurs during this process. The lower fill light is lit when the lifting
structure reaches the highest position.
Note
The lower fill light is enabled by default.
4. Enable upper fill light.
The expected result: The upper fill light is lit.
5. Disable manual intervention.
5.3 Pause AMR
Note
The AMR will not receive any task if it is paused.
You can pause the AMR via pressing the emergency stop button or pulling out the pause/resume
button, or logging into the monitoring client to pause the AMR.
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5.4 Power off and Stop AMR

Prerequisite: The AMR is free from executing tasks.
You can switch the power switch to power off and stop the AMR.
5.5 Move AMR

There are two ways to move the AMR: manual push and control the AMR via the mobile app.
5.5.1 Move AMR Manually

Steps:
1. Press the emergency stop button.
2. Switch the auto/manual button to manual mode.
3. Push the AMR to the appointed location manually.
4. Switch the auto/manual button to auto mode after moving AMR manually.
5. Rotate the emergency stop button clockwise to let it eject automatically.
5.5.2 Move AMR via App

When the AMR and mobile client are connected in the same wireless network, the mobile client
can connect to AMR directly with “Mobile client APP of mobile robot” (hereinafter, “APP”) and
control the AMR.
Figure 5-1 APP

Prerequisite: Download and install the APP in the download center of Hikrobot official website.
Note
The APP is only available for Android system.
AMR and APP in Same Network Segment

Prerequisite: AMR and APP are in the same network segment, and the wireless network will not
disconnect during AMR movement.
Steps:
1. Run the APP and select the connection way as Link AMR Directly.
2. Tap and select Link IP Directly.
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Figure 5-2 Link IP Directly

3. Enter user name (admin), password and IP address (192.168.2.1) and tap OK.
Note
Please contact the manufacturer for the password.
4. Control the AMR by the panel.
Figure 5-3 Control Panel

Table 5-1 Panel Introduction
Button Description Button DEscription
Tap to make the AMR Tap to make the AMR
move forward. move backward.
Tap to make the AMR Tap to make the AMR

turn left. Tap it and the turn right. Tap it and
together to the together
make the AMR turn to make the AMR turn
leftward. rightward.
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AMR Speed Adjustment Pause Button

Button
AMR and APP Not in Same Network Segment

The AMR has a built-in wireless receiver. After AMR’s AP function is enabled, the APP can connect
the AMR’s wireless network and control it.
Steps:
1. Press and pull up the emergency stop button for five times.
The expected result: The indicator turns to flashing red.
2. Use an android mobile terminal to connect to the AMR.
(1) Select the safety as No.
(2) Modify the network IP to Static.
(3) Modify the IP address to 192.168.2.x.
(4) Modify router IP to 192.168.2.1.
(5) Modify the prefix length to 24.
(6) Modify the domain name to 8.8.8.8.
Note
The Wi-Fi name of the AMR is the AMR No.
Figure 5-4 Connect to the AMR
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Figure 5-5 Set Network Parameters

3. Select the connection way as Link AMR Directly.
4. Tap and select Link IP Directly.
Figure 5-6 Link IP Directly

5. Enter user name (admin), password (please contact the manufacturer) and IP address.
6. Tap OK.
7. Control the AMR by the panel.
5.6 Charge AMR
Caution
● Use the original charge station to charge the AMR.
● Deploy the charge station according to the AMR datasheet. The manufacturer is not responsible
for any error that cause by incorrect deployment.
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5.6.1 Charge Automatically

The charge station is in the auto charge mode by default when it is powered on. The AMR will go
to charge station automatically if its battery is lower than the charging threshold. After charging is
completed, the AMR will continue to work.
Note
Set the charging threshold in RCS.
5.6.2 Charge Manually
Note
● For specific graphical user interfaces, refer to the actual one.
● The charging current should be smaller than 12 A.
When the AMR battery is lower than the power-off threshold, the AMR will shut down
automatically, and manual charge is required.
Steps:
1. Manually push the AMR to the charge station, and connect the charge station with AMR.
Note
Make sure that the charge station’s stretching structure is in stretching status.
2. Tap User Log In in the home page to enter user login interface.
Figure 5-7 Home Page

3. Enter the user name and password (111119).
4. After login, tap Return to go to the home page.
5. Tap Manual Charging, and select the charging mode according to actual demands.
In order to avoid incorrect operation, it is recommended to go back to the home page and tap
Automatic Mode. In this way, the charge station will enter automatic mode, and manual charging
will be blocked. Repeat above steps to enter manual charging mode if necessary.
15
Figure 5-8 Select Charging Mode
Figure 5-9 20 AH Manual Charge
Figure 5-10 30 AH Manual Charge
16
5.6.3 Charge AMR via Handheld Power Supply

You can use the handheld power supply to charge the AMR. After AMR’s battery level is higher
than its shutdown threshold, you can stop the charging, and push the AMR to the charge station
for charging.
Prerequisite: The AMR is not powered on.
Note
● Prepare the handheld power supply and cables in advance.
● It is recommended not to charge AMR via the handheld power supply for a long time.
Steps:
1. Use cables to connect the AMR and the handheld power supply.
2. Turn on the handheld power supply.
Figure 5-11 Turn on Handheld Power Supply

3. Press start button, and switch to the green light.
17
Figure 5-12 Press Start Button

4. Check charging voltage and current.
18
Chapter 6 Component Introduction
6.1 Indicator
Table 6-1 Indicator Description
Indicator Status Description
Solid No exception. The AMR is executing platform tasks.
Green 2 s Flashing No platform task. The AMR is free.
10 s Flashing The AMR is charging.
The emergency stop button is triggered.
The bumper strip is triggered.
The motor's CAN cable communication is abnormal.
Red Solid
The laser sensor is abnormal.
The AMR stops when it meets obstacles in the heading
direction.
0.5 s Flashing The AMR decelerates when it meets obstacles.
Initializing the positioning library failed during the AMR
1 s Flashing
reboot.
Yellow
3 s Flashing Platform Loss of Contact
5 s Flashing AMR Exception Alarm
Solid AMR Parking Alarm
6.2 LCD Screen

The LCD screen is designed for displaying AMR real-time task information, alarm information,
obstacle avoidance data, and also map configuration information.
Note
Images below are only for reference. For specific graphical user interfaces, refer to the actual one.
19
6.2.1 Home Page

The home page includes the following information: Tasks that are being executed, AMR’s status or
alarm information, and AMR’s remaining battery level.
Figure 6-1 Home Page
6.2.2 Status Information

The interface is as follows:
Figure 6-2 Status Information

The detailed parameters are as the table below:
Table 6-2 Sub-menu Description
Sub-menu Description Interface
Safety Status ● Monocular camera: Reversed.
● Laser: The distance of the detected
obstacle. If no obstacle is detected,
10000 will be displayed.
● Bumper strip displays the trigger status of
bumper strip. 0x01 indicates that the
front bumper strip is triggered, 0x10
indicates that the rear bumper strip is Figure 6-3 Safety Status
triggered, and 0X11 indicates that both
20
the front and rear bumper strips are

triggered.
● Detection results displays the detection
results front, rear, left and right
obstacles. If an obstacle is detected in
multiple directions, only the nearest
direction of the obstacle is displayed.
● Real-time detection displays the distance
of the nearest obstacle to the AMR.
● Detection solution displays the obstacle
avoidance solution inside the AMR and
the obstacle avoidance detection
distance in the front side.
Sensor ● Lifting displays the status of the lifting
Status structure. 0X01 represents the highest
place, and 0X00 represents the lowest
place.
● Goods code: The code value of the
currently read goods code is displayed,
and it displays empty if no goods is
carried. Figure 6-4 Sensor Status
● Location code: The code value of the
currently read location code will be
displayed, otherwise it will be displayed
as empty.
● Turntable displays the turntable status.
0X01 represents that it is in zero position,
and 0X00 is not in zero position.
● Gyroscope displays the angular velocity
of the Z-axis of the gyroscope.
Maintenance ● Total Running Time: The total running
Data time of the AMR after it is put into use.
● Total Running Distance: The total running
distance of the AMR after it is put into
use.
● Lifting Times: The lifting times of the
AMR after it is put into use. Count Lifting
and putting it down once.
Figure 6-5 Maintenance Data
● Main Battery Charging Times: The total
charging times of the battery after it is
put into use
● Revolutions of Main Wheel: The quantity
of revolutions of main wheel after it is
put into use.
21
● Distance of Main Wheel: The total

running distance of main wheel after it is
put into use.
● Front Caster Distance: The total running
distance of the front caster after it is put
into use.
● Rear Caster Distance: The total running
distance of the rear caster after it is put
into use.
Positioning ● Positioning coordinates displays the
Status real-time coordinates of the robot
● Angle displays the real-time angle of the
AMR (relative to the coordinate system).
● Slam confidence is only suitable for slam
guided AMR. The lower the value
displayed, the higher the confidence and
the more accurate the positioning. When Figure 6-6 Positioning Status
the value is 300 or below, the confidence
is considered as high. If the confidence
value is too low, the AMR cannot be
online.
● Current map is only for slam guided AMR
and display the current map of the AMR.
● Current positioning mode:
Two-dimensional code guides AMR and
displays acquisition. SLAM guides robot
and displays positioning, acquisition,
SLAM and mapping according to the
actual conditions.
6.2.3 Manual Control

The interfaces are as follows:
Figure 6-7 Manual Control Page
22
Table 6-3 Manual Control Description

Function Description
You can only operate lifting and lowering after enabling manual
Manual Intervention intervention. Once manual intervention is enabled, the AMR will
not receive the platform task any more.
Enable it to lift the lifting platform to the highest position. After 2
Lift Up seconds, lifting platform will automatically lower to the lowest
position.
Lift Down Enable it to lower the lifting platform to the lowest position.
Shelf Code Light Enable or disable goods code light.
Enable or disable location code light. The location code light is
Ground Code Light
enabled by default.
Charge Enable or disable charge.
Turntable Rotate Anticlockwise Enable it to let the turntable rotate anticlockwise.
Turntable Rotate Clockwise Enable it to let the turntable rotate clockwise.
6.2.4 Configuration Information

The interface is as follows:
Figure 6-8 Configuration Info.

The detailed parameters are as follows:
23
Table 6-4 Configuration Information Description

Sub-menu Description Page
Configuration  Server IP displays the IP address of the
Info. AMR control system that the AMR is
registered with.
 Server Port displays the port of the
AMR control system that the AMR is
registered with.
 Wireless SSID displays the wireless
network name to which the AMR is
connected.
 WirelessPassword displays the wireless
network password to which the AMR is
connected.
Figure 6-9 Configuration Info.
 Code Space X displays the X-axis code
space of the AMR configured in
HIK-Robox.
 Code Space Y displays the Y-axis code
space of the AMR configured in
HIK-Robox.
 AMR IP sets the IP address of the
mobile robot.
Machine Display the following version Info.:
Info.
 Main Control Version
 RCU Version
 Motion Library Version
 Location Library Version
 Sensor Library Version Figure 6-10 Machine Info.

 Battery Version
24
6.2.5 Health Information

The health information displays the health condition of each module.
Figure 6-11 Health Information
6.3 Power Switch

Power switch is used to power on or off the AMR.
Note
Do not power off the AMR when the AMR is working.
6.4 Emergency Stop Button

Emergency stop button plays a key role in stopping the AMR manually when an emergent situation
occurs.
Press this button when an exception occurs, and then the AMR stops with an audible alarm and
the solid red indicator. Release this button and press the reset button, and then the AMR recovers
to the working mode.
6.5 Pause/Resume Button
Note
The AMR can establish connection with the RCS only when this button is pressed.
6.6 Auto/Manual Button

The AMR supports two operating modes: auto mode and manual mode.
● Auto mode: In this mode, the AMR is controlled by the RCS.
25
● Manual mode: In this mode, the AMR is controlled manually to lift or lower turntable, but it no
longer receive tasks from RCS.
Note
If the AMR is switched from auto mode to manual mode, it will generate alarms and no longer
receive tasks from RCS.
6.7 Reset Button

The reset button is used to help the AMR continue to work normally after recovering from
malfunctions. After malfunctions are handled, you not only need to release the emergency stop
button, but also press the reset button.
6.8 Safety Laser Sensor

The safety laser sensor is mainly used to scan operating environment and collect data for creating
maps, to locate the AMR in the map, and to control the AMR decelerate or stop if obstacles are
detected by the laser sensor to avoid collision.
The AMR is equipped with one safety laser sensor in the front side. The safety laser sensor can
detect 250° horizontal field of view with 20 m radius plane that is 195 mm above the ground.
Note
The AMR cannot detect obstacles that are lower or higher than the plane mentioned above.
195mm
Figure 6-12 Installation Height

20m
250°
Figure 6-13 Protection Area
26
The range of the protection area can be set in the RCS (Robot Control System). The protection area
will be ineffective if the configured area exceeds the sensor’s maximal detection capability.
6.9 Ultrasonic Sensor

The ultrasonic sensor transmits ultrasonic waves in a certain direction, and these waves are
immediately reflected back to the receiver if they encounter obstacles on the way. The ultrasonic
sensor can calculate the distance between the transmission point and obstacles.
The AMR is equipped with two ultrasonic sensors, and each one can detect a cone-like area with a
horizontal angle of 80° and a vertical angle of 34°. The farthest detection distance is 1 m outside
the 200 mm blind zone.
m
10 00m
200-
34°
191mm
80°
80°

The range of the protection area can be set in the RCS (Robot Control System). The protection area
will be ineffective if the configured area exceeds the sensor’s maximal detection capability.
27
6.10 Infrared Sensor

The infrared sensor calculates whether there are obstacles by transmitting pulsed infrared and
receiving it reflected from objects. After object detected, the AMR will stop immediately.
The AMR is equipped with two infrared sensors. The detection range of each sensor is a 300 mm
line segment that is 98 mm above the ground. Objects that are not in this lien segment or in a 20
mm blind zone cannot be detected.
98mm
300mm
Note
The range of the protection area cannot be set in the RCS (Robot Control System).
6.11 Pneumatic Bumper Strip

The AMR is equipped with pneumatic bumper strips both front and rear sides that are used to
protect the AMR. When the AMR collides with an obstacle, the air pressure in bumper strips will
change, and the AMR will stop and send alarms.
Note
After bumper strips are triggered, you need to press the emergency stop button and remove
obstacles. After that, release the emergency stop button, press the reset button, and then the
AMR will continue to work
6.12 Recharge Port

When the power of the AMR is running out, or the power is not enough to support the AMR to go
28
to the charge station, you should use the handheld charger to charge the AMR via the recharge
port. When the AMR can be powered on after charging, you can manually transfer it to the charge
station for full charging.
29
Chapter 7 Obstacle Avoidance Area and Solution

The AMR uses safety laser sensors to avoid obstacles. This laser has functional features of area
laser and contour laser at the same time, can detect the real-time distance from the AMR to
obstacles, and control the AMR to decelerate and stop.
7.1 Introduction
Obstacle avoidance solutions are divided into business obstacle avoidance solution and
human-robot coexistence solution. The AMR will automatically switch the laser solution according
to the distance between task target points issued by RCS and the current position. The default
switching distance threshold is 1 m.
● Business obstacle avoidance solution: It has short stopping distance, and is suitable for dense
storage locations. When the AMR is within 1 m from the target point, it will switch to this
solution.
● Human-robot coexistence solution: It has long stopping distance, and is used in scenes that
require long-distance detection and stopping. When the AMR is more than 1 m away from the
target point, it will switch to this solution.
Note
● The task target point is not the final target point of the execution of the task, but the target
point of each sub-task.
● If you want to edit the switching distance threshold of solutions, you need to configure the
sche_dist field in the configuration file castor_conf.xml.
These two obstacle avoidance solutions divide obstacle avoidance areas into three areas, including
first-level deceleration area, second-level deceleration area, and stop area.
When an obstacle is detected in the deceleration area, the AMR will gradually decelerate. If the
obstacle still exists and enters the stop area, the AMR will stop and wait for the path to be clear
again.
● First-level deceleration area: After detecting an obstacle in this area as shown red color in
Figure 7-1, the AMR will decelerate.
● Second-level deceleration area: After detecting an obstacle in this area as shown orange color in
Figure 7-1, the AMR will decelerate.
● Stop area: After detecting an obstacle in this area as shown yellow color in Figure 7-1, the AMR
decelerates until it stops.
30
Figure 7-1 Obstacle Avoidance Area

The default distance of different areas is shown below.
Table 7-1 Area Distance (Forward/Backward)
First-Level Second-Level Deceleration Area
Stop Area
Obstacle Deceleration Area
Avoidance
Empty Carry Rack Carry Rack Empty Carry Rack Carry Rack Empty Carry Carry Rack
Solution
Vertically Horizontal Vertically Horizontal Rack Horizontal
Vertically
Business 1519 1519 1578 548 448 510 150 100 301
Obstacle
Avoidance
Solution
Human-Robot 1519 1664 1688 485 630 631 328 374 468
Coexistence
Solution
7.2 Obstacle Avoidance Area and Speed Settings (Contour Type)

This section introduces that how to set the AMR’s obstacle avoidance area range and speed
(running speed, turning speed, acceleration speed, and deceleration speed).
Note
Here we introduce the AMR’s global obstacle avoidance. If you want to set different obstacle
avoidance solution for various paths, refer to section Platform Settings.
31
Steps:
1. Download HIK-Robox from https://en.hikrobotics.com/, and run it.
2. Go to Settings → Safety Protection Settings → Avoidance Range.
3. Select Obstacle Avoidance Solution, set each segment, and click Apply.
Note
● Stop segment 0 stands for the stop area.
● Deceleration segment 1 stands for the second-level deceleration area.
● Deceleration segment 2 stands for the first-level deceleration area.
Figure 7-2 Obstacle Avoidance Area Parameters

4. Go to Settings → Motion Settings → Speed.
5. Set the motion speed for AMR without rack and AMR with rack respectively, and click Apply.
Note
● Linear acceleration/deceleration stands for the AMR’s acceleration/deceleration when it runs
along the path.
● Linear speed stands for the AMR’s speed when it runs along the path.
● Angular acceleration/deceleration stands for the AMR’s acceleration/deceleration when it
turns.
● Angular speed stands for the AMR’s turning speed.
32
Figure 7-3 Speed Parameters
7.3 Obstacle Avoidance Area and Speed Settings (Area Type)

This section introduces that how to set the AMR’s obstacle avoidance area range and speed
(running speed, turning speed, acceleration speed, and deceleration speed).
Note
Here we introduce the AMR’s global obstacle avoidance. If you want to set different obstacle
avoidance solution for various paths, refer to section Platform Settings.
Steps:
1. Use the USB cable connect the PC and laser sensor.
2. Run Area Designer, and adjust ranges of various areas.
Note
● The yellow color stands for the stop area.
● The orange color stands for the second-level deceleration area.
● The red color stands for the first-level deceleration area.
3. Run HIK-Robox and log into the AMR.
4. Go to Settings → Motion Settings → Speed.
5. Set the motion speed for AMR without rack and AMR with rack respectively, and click Apply.
Note
● Linear acceleration/deceleration stands for the AMR’s acceleration/deceleration when it runs
33
along the path.

● Linear speed stands for the AMR’s speed when it runs along the path.
● Angular acceleration/deceleration stands for the AMR’s acceleration/deceleration when it
turns.
● Angular speed stands for the AMR’s turning speed.
Figure 7-4 Speed Parameters
7.4 Platform Settings

If you need to set a specific obstacle avoidance solution for certain paths, you can set the laser
solution on the RCS platform and select the laser solution from line attributes of the map. The
priority of the laser solution from line attribute is higher than the obstacle avoidance solution of
the AMR itself.
Steps:
1. Log into the RCS, and go to Build Model → Map Plan → Laser Config.
2. Click Add to add the laser solution.
34
Figure 7-5 Add Solution

3. Enter map configuration page, select a road or roads to edit, and select the laser solution that
you have added in the step above.
35
Chapter 8 Basic Settings of RCS
8.1 Introduction
Note
This section only gives a brief introduction of the RCS. Refer to the user manual of the RCS for
detailed information.
Robot Control System features in:
● Map model: The system transforms the physical environment into a data model recognized by
the AMR, and visualizes the workstation, charge area, storage area, and other elements in
maps.
● Multiple task allocation: The system supports allocating multiple tasks simultaneously, and
takes combination modes, real-time status, and other elements into consideration. It sends the
task to the most appropriate AMR, and switches tasks dynamically.
● Multiple routes plan: The system supports planning routes in the large map.
● Standard API: The system provides standard APIs, and simplifies the connection difficulty to
maximum extent.
Figure 8-1 RCS Home Page
36
8.2 Create and Set Map

According to the design paper, you can draw map, add map elements, storage area (optional), and
peripheral devices (optional).
● Map element: Add map elements, set element coordinate and attributes.
● Storage area: Divide map areas into different storage areas, and allocate strategy according to
storage area.
● Peripheral devices: Add red and green lights, wireless charge station, etc.
8.3 Set Service

Via the RCS service and AMS service settings, you can link the map to the service, and link the map
to the AMR. Remote configuration is required after adding or editing the service.
8.4 Set AMR

Follow steps to connect the AMR and RCS.
Steps:
1. Use the debug cable to connect the AMR and PC.
2. Modify the PC IP address to the same segment of the AMR’s IP.
Note
It is recommended to set the PC IP address as 192.168.1.100 and above.
3. Use HIK-RoboX to add the AMR.
4. Set Wi-Fi and RCS parameters according to actual demands.
Figure 8-2 HIK-RoboX
37
8.5 Add AMR into RCS

Add the AMR into the RCS, and push the AMR into a place where is attached with the location
code. Therefore, the LRM is online in the RCS.
8.6 Move AMR via Monitor Client

You can log into the RCS system via the monitor client, and view AMR status, control AMR, send
tasks, monitor task status, and view alarms. You can follow steps below to move the AMR via the
monitor client.
Steps:
3. Double click a AMR, and select a coordinate.
4. Click Move, and move the AMR onto the coordinate.
Figure 8-3 Move AMR
38
Chapter 9 Alarm Handling
9.1 Alarm Recovery

When the AMR has an exception, it will give alarms via the status indicator and LCD (see Indicator).
When alarms are generated, the AMR supports recovery to the normal status automatically and
manually:
Automatic Recovery
The AMR automatically solves alarms and continues to execute the current tasks.
Manual Recovery
If the alarm keeps, the AMR needs recovery manually. Press the emergency stop button, check the
alarm types via the LCD display, and then troubleshoot refer to the table below. When the alarm
stops, pull up the emergency stop button and press the reset button to recovery for work.
Caution
Any troubleshooting must follow the related safety information in the safety instruction.
9.2 Alarm Description and Solution

Table 9-1 Alarm Description and Solution
Alarm Type Description Solution
MCU The AMR does not detect the 1. Reboot MCU program.
Disconnected heartbeat signal from the MCU. 2. Power off and restart the AMR.
1. If all AMRs are offline, check the
network, server, and RCS status.
2. If only one AMR is offline, power it off
RCS The AMR does not detect the recovery
and restart it.
Disconnected heartbeat signal from the RCS.
3. If the AMR is frequently disconnected
to the RCS, check the AMR antenna
connection.
Navigation The navigation module data processing
Contact technical support for help.
Blocked is blocked.
Gyroscope During the AMR initialization process, Contact technical support for help.
Uncelebrated the gyroscope is not corrected.
39

It is found out that the lifting structure 1. Press the emergency stop button, and
is not at the lowest position when lower the lifting structure manually.
adjusting the AMR position is required Then, restart the AMR, push it to the
Lowering Retry
in the lifting rack task. After trying rack manually, and release the
Failed
several times to lower the lifting emergency button.
structure, it is still not be lowered to 2. Check whether the lifting structure and
the bottom. the sensor are working normally.
During the main control initialization
Lens
process, it is failed to read three sets of Calibrate the lens.
Uncelebrated
lens calibration parameters.
AMR's IP address conflicts with that of
IP Conflict Wait for AMR's automatic recovery.
other devices.
AMR has communication exception
AP Exception Check AP.
with the AP.
When lowering the rack, the lifting
Incomplete
structure can not reach the lowest Check the lifting structure and the sensor.
Lowering
position.
When lifting the rack, the lifting
Incomplete
structure cannot reach the highest Check the lifting structure and the sensor.
Lifting
position.
When there is no lowering task
followed, the lifting structure is not at
the highest position after completing a
Lowering lifting task. Check the lifting structure and the sensor.
Manually
The main control issues the lifting task
to the RCU, but the lifting structure is
always at the lowest position.
When there is no lifting task followed,
the lifting structure is not at the lowest
position after completing a lowering
Lifting Manually task. Check the lifting structure and the sensor.
When there is no rack carrying task (no
rack ID maintained), the lifting
structure is at the highest position.
1. Long-time video loss causes the system
Location Code
No location code video is detected. reboot.
Video Lost
2. Check the video connection cable.
Insufficient Location code corresponding Check whether the supplement light is
40

Light supplement light exception occurs. tampered.
Supplement for
Location Code
1. Long-time video loss causes the system
Goods Code
No goods code video is detected. reboot.
Video Lost
2. Check the video connection cable.
Insufficient
Light Goods code corresponding supplement Check whether the supplement light is
Supplement for light exception occurs. tampered.
Goods Code
1. Check the connection and power supply
Excessive current occurs in the left of the motor and the driver.
Left Motor motor starter. Check whether the driving wheels or
Current
Ultra-low current occurs in the left the caster wheels are stuck.
Exception
motor starter. 2. Check whether the driving wheels or
the caster wheels are stuck.
1. Check the connection and power
Excessive current occurs in the right supply of the motor and the driver.
Right Motor motor starter. Check whether the driving wheels or
Current
Ultra-low current occurs in the right the caster wheels are stuck.
Exception
motor starter. 2. Check whether the driving wheels or
the caster wheels are stuck.
Location Code The uploaded location code's image
Power off and restart the AMR.
Not Updated information is not updated.
DSP The DSP heartbeat is not updated
Power off and restart the AMR.
Disconnected within 1s.
Excessive current occurs in the rotating
Rotating Motor motor starter. 1. Check the connection and power supply
Current of the motor and the driver.
Exception Ultral-low current occurs in the 2. Check whether the turntable is stuck.
rotating motor starter.
Check the connection and power supply of
Left Motor Error Left motor driver exception occurs.
the motor and the driver.
Right Motor Check the connection and power supply of
Right motor driver exception occurs.
Error the motor and the driver.
Rotating Motor Rotating motor driver exception Check the connection and power supply of
Error occurs. the motor and the driver.
AMR off from When the AMR starts, its navigation 1. Push the AMR to the location code.
Location Code initialization fails. Make sure the AMR is on the location
41

code.
2. Contact the technical support for help.
The source acceleration data Press the emergency stop button, and push
Collision Alarm transmitted from the gyroscope sensor the AMR to the location code. And then,
increases dramatically and suddenly. release the emergency stop button.
The source acceleration data
Gyroscope Data
transmitted from the gyroscope sensor Calibrate the gyroscope.
Exception
is incredible.
Location Code The source data transmitted from the Press the emergency stop button, and push
Unrecognized sensor shows that consecutive two the AMR to the location code. And then,
Consecutively location codes are not recognized. release the emergency stop button.
When the AMR is working, it moves Press the emergency stop button, and push
Deviation Alarm deviating from the scheduled center the AMR to the location code. And then,
route. release the emergency stop button.
Location Code Press the emergency stop button, and push
The location code image cannot be
Image the AMR to the location code. And then,
recognized.
Exception release the emergency stop button.
The positioning library judges
coordinates of next location code
Incorrect according to previous location code
Paste the location code again.
Location Code and position. But the actual recognized
coordinates of location code is
different from the expected one.
Bump Strip Press the emergency stop button, and then
The bump strip is triggered.
Triggered release it.
Emergency Stop The emergency stop button is
Release the emergency stop button.
Triggered triggered.
Left Motor's The driving heartbeat of the left motor
CAN Cable cannot be detected, and CAN cable is Check the CAN cable connection.
Disconnected not connected.
Right Motor's The driving heartbeat of the right
CAN Cable motor cannot be detected, and CAN Check the CAN cable connection.
Disconnected cable is not connected.
Rotating
The driving heartbeat of the rotating
Motor's CAN
motor cannot be detected, and CAN Check the CAN cable connection.
Cable
cable is not connected.
Disconnected
42

Laser CAN/IO
Board The heartbeat of the laser sensor Check the laser communication cable
Communication cannot be detected. connection.
Exception
1. Check whether the laser is working
Laser Sensor The laser sensor reports its internal
normally.
Error error.
2. Power off and restart the AMR.
Lifting Motor’s The driving heartbeat of the lifting
CAN Cable motor cannot be detected, and CAN Check the CAN cable connection.
Disconnected cable is not connected.
43
Appendix A Field Requirement
Road Fluctuation
Road Fluctuation refers to the difference between max. height and min. height in the reference
range. When the road fluctuation is smaller than the maximum value, the AMR can move in the
nominal speed. Note that the maximum fluctuation value should be less than 3 mm (including 3
mm) within 1 m2.
Road Gradient
Road Gradient refers to the max. ratio of horizontal difference to path length in a path over 100
mm. When the road gradient is smaller than the maximum value, the AMR can move in the
nominal speed. Note that the max. road gradient should be less than 0.03 (including 0.03). For the
stop where AMR needs located precisely, its road gradient should be less than 0.01 (including
0.01).
Step Height
Step Height refers to the max. height difference in a path within 100 mm. When the step height is
smaller than the maximum value, the AMR can move in the nominal speed. Note that the AMR
cannot stop at steps, and the max. step height should be less than 5 mm (including 5 mm).
Width Range
When the width range is smaller than the maximum value, the AMR can move in the nominal
speed. Note that the AMR cannot stop at grooves, and the max. width range should be less than 8
mm (including 8 mm). When width range exceeds the allowable value, the requirement should be
made according to the step height.
Ground Friction Coefficient
AMR wheel adopts PU material, and its ground sliding friction coefficient is more than 0.5. Ground
friction coefficient is important for brake safety distance and positioning accuracy. Ground dirty,
water logging, detergent can also impact AMR operation.
Ground Load Bearing
Ground load per unit should be higher than that of AMR horizontally-projected area to keep
ground from being damaged. Composite ground is recommended, which can conduct the pressure
of AMR to the cement bearing layer. The small-area pressure from wheels should be taken into
consideration as well.
There should not be any hidden hollow in ground, which will significantly affect AMR operation.
Constructor needs crack detection for operational area. Unqualified ground must be rebuilt until
qualified.
Ground Electrical Characteristic
Ground conductive resistance should maintain in 10^6 to 10^9 to avoid AMR accumulated
44
electrostatic (referred to Germany DIN51953 Standard).
45
Appendix B Wireless Network Requirement
B.1 Wireless AP (Access Point) Deployment Requirement
Location and Quantity Requirement

The AP model (especially omnidirectional and directional) decides its coverage and installation
method. APs can adopt ceiling mounting or wall mounting. For wall mounting, the recommended
slope is 7° to 9°, and the height is 3 m to 5 m.
Specify the AP quantity according to the AP coverage and your space size. Too many APs may
easily cause signal interference. Here we give an example for reference. When the AP transmitting
power is 20 dBm and the AMR carries metal rack, the AP covered radius is 15 m. If the AMR does
not carry any rack, the AP covered radius could be 20 m.
Due to poor penetration of wireless signal, fully consider physical isolation during AP deployment,
and add APs if needed. Firewall (construction) is commonly used in warehouse, which weakens
the signal sharply. In this case, deploying an AP near the firewall may be recommended.
Channel Configuration Requirement
AP supports 2 kinds of frequency: 2.4 G and 5.8 G. For 2.4 G, channel 1, channel 6, and channel 11
are available; and for 5.8 G, channel 149, channel 153, channel 157, channel 161, and channel 165
are available.
Adjacent AP channels should be staggered and fixed.
Here we take 2.4 G frequency band channel and its deployment diagram as an example.
Figure B-1 2.4 G Channels
46
Figure B-2 2.4 G Channels Deployment 1
Figure B-3 2.4 G Channels Deployment 2
Signal Overlapping Range Requirement

The signal overlapping range of adjacent APs is the key point to the AP deployment.
Four elements determine the signal overlapping range: STA roaming switch scheme, matching
threshold of AP and STA, max. STA moving speed, and switching time of AP/AC. It is recommended
to ensure each AP has -65 dB strength overlapping.
47
Figure B-4 Strength Overlapping Diagram
B.2 Wireless Network Settings Requirement

Make sure your wireless network deployment meets following requirements:
● Make sure the AMR use 2.4 G or 5.8 G network frequency band independently.
● It is recommended to bind the mac address to manage the AMR in order to ensure the AMR IP
is unique and no other unregistered users use this wireless network.
● Disable the AP intelligent antenna to fix the AP transmitting power and transmitting channel.
● DO NOT enable Distinguish Auto Channel or Power Auto Adjustment function.
● Set 2.4 G and 5.8 G band widths to 20 M to ensure communication stability.
B.3 Wireless Network Signal Strength Requirement
Signal Strength Requirement

There are different signal strength requirements for different areas.
● Frequency area: usually refers to the inbound/outbound area, the queuing area, etc. The AMR
signal strength should be more than -55 dB, and the time delay of ping 1500 packet should be
less than 100 ms.
● Infrequency and non-gathering area: usually refers to the warehouse fringe and non-primary
route. The AMR signal strength should be between 68 dB and 65 dB.
● Remote area: usually refers to the place AMRs seldom come. When the signal strength is under
-68 dB, the time delay of ping 1500 packet should be less than 200 ms.
Note
The strength refers to the actual testing of the AMR self-carried Wi-Fi.
48
Signal Strength Testing Scheme

There are two quick schemes to rate the spot wireless environment.
● Test AMR auto roaming in the testing area shown in the figure below. Connect to the specific
AP1, and move at the speed of 800 mm/s near where the AP signal strength is around -65 dB,
the time delay of ping 1500 packet should be less than 200 ms, and upward and downward rate
should be more than or equal to 2 Mbit.
Figure B-5 Scheme Diagram

● When the AMR is roaming between APs, ensure the lost roaming ping packet is less than 2 at
each time, and also control the switching time within 100 ms. In order to keep a stable wireless
environment, double AC back-up deployment method is recommended.
49
Appendix C IP Distribution
Table C-1 IP Distribution

Abbreviation Full Name
Lower Lens 192.168.1.20
Upper Lens 192.168.1.21
Main Control Wired NIC 192.168.1.64
Patrol Camera 192.168.1.65
Laser Panel 192.168.1.75
Binocular Camera 192.168.1.95
Single (Laser Model UAM) 192.168.1.10
Laser Single (Laser Model UST) 192.168.1.11

Sensor Front Laser of Dual Laser 192.168.1.85
Rear Laser of Dual Laser 192.168.1.86
50
Appendix D Abbreviation
Table D-1 Abbreviation

Abbreviation Full Name
RCU Real-Time Control Unit
LMR Latent Mobile Robot
AMR Automated Mobile Robot
AP Access Point
AC Access Controller
MCU Microcontroller Unit
HMI Human Machine Interface
51
UD24570B

UD24570B - MR-Q3-600 AMR - User Manual - V1.0.0 - 20210712

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MR-Q3-600

THE PERFORMANCE DATA IN THIS PUBLICATION IS BASED ON HIKROBOT'S INTERNAL

requirements in Appendix A Field Requirement.)

6.2 LCD Screen ........................................................................................................................... 19

Appendix A Field Requirement ................................................................................................. 44

1.2 Key Feature

1.3 Safety Components

Figure 1-1 Top View

Figure 1-2 Side View

Chapter 2 AMR Package

2.1 Tool Preparation

Figure 2-1 Tools

2.2 Unpack AMR Package

2. Use straight screwdriver to lever all buckles.

Figure 2-2 Lever Buckles

Figure 2-3 Rotate Buckles

Figure 2-4 Rotated Buckle

Figure 2-5 Lever Corners

Figure 2-6 Unpacked

Figure 2-7 Connect Slope and Box

Chapter 3 AMR Transportation

3.1 Pack AMR

3.2 Transport AMR

Figure 3-1 Transportation Diagram

Figure 4-1 Main Components

Chapter 5 Get Started

5.1 Power on and Start AMR

5.2 Check AMR Manually

5.2.1 Power-on Self-Check

5.2.2 Check Emergency Stop Button

5.2.3 Check Pneumatic Bumper Strip

5.2.4 Check Lifting Structure, Location Code and Goods Code

5.3 Pause AMR

5.4 Power off and Stop AMR

5.5 Move AMR

5.5.1 Move AMR Manually

5.5.2 Move AMR via App

Figure 5-1 APP

AMR and APP in Same Network Segment

Figure 5-2 Link IP Directly

4. Control the AMR by the panel.

Figure 5-3 Control Panel

Tap to make the AMR Tap to make the AMR

AMR Speed Adjustment Pause Button

AMR and APP Not in Same Network Segment

Figure 5-4 Connect to the AMR

Figure 5-5 Set Network Parameters

Figure 5-6 Link IP Directly

5.6 Charge AMR

5.6.1 Charge Automatically

5.6.2 Charge Manually

Figure 5-7 Home Page

Figure 5-8 Select Charging Mode

Figure 5-9 20 AH Manual Charge

Figure 5-10 30 AH Manual Charge

5.6.3 Charge AMR via Handheld Power Supply

Figure 5-11 Turn on Handheld Power Supply

Figure 5-12 Press Start Button

Chapter 6 Component Introduction

6.2 LCD Screen

6.2.1 Home Page

Figure 6-1 Home Page

6.2.2 Status Information