Artemis V6 Parts list manual

Chengying Navigation Manual
Version 1.1.1
Date: September 8, 2020
Note: This document provides machine-related deployment
procedures and precautions. Follow the instructions in the
document to avoid abnormal situations when the machine is
used later.

Contents
Robot use environment requirements.....................................................................................3
Specification .................................................................................................................................... 4
Meet your robot............................................................................................................................. 5
Get to know your charger............................................................................................................6
Use your robot................................................................................................................................ 6
1. Boot ....................................................................................................................................... 6
2. Charging............................................................................................................................... 7
3. Navigation ........................................................................................................................... 8
The step 1 [Network Settings ] ...............................................................................8
The step 2 [ build a map ] ........................................................................................... 9
The step 3 [ virtual wall ] ...........................................................................................13
The Step 4 [ Special Area ] ........................................................................................16
The step 5 [ Modify map ].........................................................................................17
The step 6 [ QR code ]................................................................................................19
The Step 7 [ Position ]................................................................................................. 22
The Step 8 [ map ]........................................................................................................25
The Step 9 [ upgrade ]................................................................................................26
The Step 10 [ Debug ].................................................................................................26
Precautions for the use of UV lamps ................................................................................ 27

Robot use environment requirements
The working environment cannot have a lot of transparent glass
Cannot be used where there are stairs or where the drop is more than
2cm
There should not be a lot of black marble and black reflective
cabinets at the floor height of 50cm
Can’t travel on the ground with high friction. Example: thicker and
softer carpet
The slope cannot be greater than 15°, no steps
Cannot be used in bathrooms and similar environments
There should be no densely placed thin-legged chairs in the travel
area

Specification
1. Display:7-inch IPS screen (1024*600)
2. Vision camera:HD 5 million pixels
3. Battery:18650 battery pack 37V 20800 mAh
4. Intel: I5 motherboard
5. Android motherboard:RK3128
6. WIFI:AP6255 dual frequency 2.4G+5G
7. 4G router optional
8. 4R3W speaker*1
9. UV lamp,UV output 11.2W UVC
10. Adapter 42V 3A
11. Life time 3H
12. Operating system Android5.1
13. Height 1542MM
14. Width 450MM
15. Weight 46KG

Meet your robot
Chengying UV disinfection robot has a beautiful beige appearance,
centimeter-level precise navigation, world-leading remote deployment
technology, multi-machine coordination ability, automatic obstacle
avoidance and other functions. It can automatically navigate to a
designated location indoors.
The following is the body structure of Chengying UV disinfection robot:
①Visual positioning camera
②Touch screen
③Ultraviolet disinfection lamp
④Infrared sensor
⑤Automatic charging shrapnel
⑥Ultrasound
⑦Drive wheel
⑧The Vientiane Wheel
⑨Emergency stop switch
⑩Infrared human body sensor hole (reserved)
⑩Lidar
⑪
3D camera (reserved)
⑫
power button
⑬
Power socket

Cleaning precautions: ②Touch screen ⑩Laser navigation, please do
not wipe it with a wet towel to avoid water ingress!
Precautions for use: ⑩Laser: Do not block the laser with objects
⑨Emergency stop switch: the emergency stop
switch can only be rotated to the right, do not
rotate to the left
Get to know your charger
The adapter plug needs to be plugged into the 220V mains power supply,
and the DC plug is plugged into the automatic charging pile. At this time,
the green light of the charging pile will be on, indicating that it is ready
for charging.
Power Adapter Automatic charging pile
Use your robot
1. Boot
The power button is located on the base
⑫
on the back of the robot. It

is a button switch. Press it once to turn it on, and press and hold the
power button for 3 seconds to turn it off.
Note for shutdown: Press and hold the power button for 3 seconds, the
display will first turn off the screen and shut down, then the motor will be
powered off, and finally the chassis light will go out!
2. Charging
Automatic charging: the robot can automatically detect the power and
charge automatically when the power is lower than the set threshold
(Prerequisite: It is necessary to construct a good icon for the charging
pile)

Direct charging: plug the power adapter cable into the power supply on
the back of the robot
3. Navigation
The step 1 [Network Settings ]
Note: The router network segment cannot be the 192.168.10.x network
segment
1. Open the [Settings]-[WLAN] on the Android screen of the robot to
connect to Wi-Fi
2. Open the Ftp application and enter the following interface. Follow the
steps shown in the figure. If the Wi-Fi password already exists, click
"Send Wi-Fi Information to Connect to ROS".

①Check the Wi-Fi name you want to connect to
②Enter Wi-Fi password
③Send Wi-Fi information to the navigation system (just click once,
don't click repeatedly)
④Observe connection status
⑤Show IP for connection success (show 127.0.0.1 for connection
failure)
3. The scanning device should be connected to the same LAN as the
machine. Open the browser and input the IP address of the machine
(Chrome browser is recommended)
Note: if the connection to Wi-Fi fails, you can turn off the app and try
again; if it still fails, you can power off the robot and restart it and try
again
The step 2 [ build a map ]
The viewing angle of the Lidar is 230°, and the scanning range is the
horizontal plane of the radar height; the scanning distance is 20
meters
Ask people to stand behind to push the robot, or use the keyboard
arrow keys to control the mapping

1. After entering the webpage, the default state is "Navigation Mode".
After pushing the machine to a spot with obvious feature points, click
"Mapping Mode" and select "Laser Mapping" to enter the state as shown
in the figure below to start generating the map. Let me teach you how to
Generate a map.
①Get IP from FTP software
②Switch to mapping mode and select "Laser Mapping"
③You can turn on the emergency stop switch and click the button to

control the robot, or use the keyboard arrow keys to control the robot to
create a map; you can also press the emergency stop switch to push the
machine to create a map
2. After entering "map mode", the machine first rotates in a circle to
clean the surrounding feature points. When rotating, the speed should
not be too fast. After one rotation, you can push (control) the machine.
You can walk straight in narrow areas. Pay attention to the gaps during
walking. Slowly rotate the machine 90° facing the gaps to clean the
feature points, then slowly turn back to continue scanning; open areas
can follow the U-shaped route, as follows:
3.When pushing (controlling) the machine, pay attention to whether the
laser matches the actual terrain. If it does not match, stop and wait for a
while, wait for the laser to match the actual terrain, and then go. As
shown below:

Figure 1: mismatch between laser and terrain (when the laser does not
match the terrain, stop and wait for the laser to match the terrain before
pushing the robot to build the map)
Figure 2: matching of laser and terrain (some areas need robot to turn to
be able to scan clearly, such as wide terrain and room)
4. Do not move the machine after the machine reaches the end point.
Just observe whether the map is clean, without ghosting and matches
the actual terrain. If there is no obvious dislocation, click "composition
completed". If there is any dislocation, please wait for a period of time,
and the algorithm will correct it.If the correction is not successful in 10
minutes, consider rebuilding the map.
matters needing attention:
1. Select the place with obvious feature points and clean terrain as the
starting point and end point, and scan the surrounding environment in a
slow circle at the beginning.

2. When pushing or controlling the robot, walk slowly and observe
whether the laser matches the terrain. If there is a mismatch, stop and
wait for the laser to match the current terrain.
3. After the robot reaches the destination, observe whether the map is
clean without ghosting and matches the actual terrain. If there is no
obvious dislocation, click "composition complete". If there is any
dislocation, please wait for a period of time, and the algorithm will
correct it.If the correction is not successful in 10 minutes, consider
rebuilding the map.
The step 3 [ virtual wall ]
Edit the function of virtual wall: restrict the active area of robot
After composition, it will automatically switch to "navigation mode", click
"Edit virtual wall" on the left menu bar

Drag: in this mode, you can zoom, pan and rotate the map. In this mode,
you can select a rectangular area according to "Ctrl + left mouse button",
and the virtual wall in this area will be cleared
Draw curve: you can draw a curve, which is often used to draw irregular
terrain
Draw a straight line: click two positions to draw a straight line between
the positions you click. It is often used in regular terrain or rough area
drawing
Eraser：Circle the virtual wall that needs to be cleared
Save: only click Save to save the drawn virtual wall
Clear: if you are not satisfied with the current virtual wall, click the clear
button to clear all the virtual walls (you need to click Save to take effect)
Example: glass wall
Note: the laser can penetrate the glass, so when drawing the virtual wall,
pay attention to the virtual wall outside the glass
figure 1 Actual environment

figure 2 Map scanned by laser
figure 3 error
figure 4 correct
Example: table
Note: the laser can only scan one horizontal plane, so when drawing the
virtual wall, consider the desktop projection
figure 1 Actual environment
figure 2 Map scanned by laser
figure 3 error
figure 4 correct
matters needing attention:
1、The minimum passing distance of the machine is 80cm, so attention
should be paid when drawing the virtual wall
2、The main function of the virtual wall is to draw the robot's
moving space and separate the areas where the robot does not want to
travel with the virtual wall.
3、Some areas that do not need to be driven or cannot be scanned by
laser (glass walls, tables and chairs, steps, transparent and fragile objects,

etc.) please make sure to build virtual walls.
4、Click "navigation mode" after saving to return to navigation mode.
The Step 4 [ Special Area ]
Tip: skip this step if there is no long corridor
The function of special area: optimize the corridor area
①Click this button to switch to "drag" mode
②Special areas drawn will not take effect until they are saved
③Click this button to clear all special areas in the Council (also click
Save to take effect)
④Special areas drawn
In the corridor, where the feature points are relatively single (only two
lines), special areas can be drawn

Edit mode click the left mouse button on the map in order to form a
polygon
It is recommended to mark the long corridor with no obvious
characteristic points more than 10 meters with special area
When drawing special areas, pay attention not to cover the end of
the corridor, and reserve a distance of at least 2 meters
matters needing attention:
1、The main function of special area is to deal with some areas with single
feature points (such as long corridor) or few feature points (such as open
hall).
2、Before drawing special areas, it is recommended to navigate to the
vicinity of each area to see if there is any missing location, and draw
special areas as required.
3、Click "navigation mode" after drawing and saving to return to
navigation mode.
The step 5 [ Modify map ]
Tip: Please operate carefully in this step. Generally, we use the "blank
area" (i.e.the obstacles placed temporarily or by people are swept onto
the map during the process of scanning). At this time, we need to use the
"blank area" to remove the obstacles.Skip without this step.

The function of editing map: correcting the errors in scanning map
Premise of map editing: if an obstacle is missed in the process of
scanning, or the map changes after scanning, and the change is not big,
you can use the map editing function to edit the map properly.If the map
is too different from the actual environment, it is recommended to scan
again.
①Click Save to apply the map modification
②Clear drawn polygons
③Here is the drop-down menu. You can select different amount map
area types
Blank area: remove the noise (such as the noise left by pedestrians
walking on the map and temporary obstacles, etc.) during the
process of scanning the map. Do not remove the real obstacles as
noise.
Obstacle area: some real fixed obstacles may not be scanned very

clearly when building the map, so it is necessary to draw obstacles
artificially on the map (note that the obstacles drawn must match the
obstacles that can be swept by the real laser).
Unknown area: some frequently changing feature points need to be
drawn into unknown areas (for example, the area where robots will
not walk outside the glass wall).
④In the same way as a special area, the interior of the drawn polygon is
a modified area
The step 6 [ QR code ]
Positioning QR code deployment requirements
1. The ceiling is parallel to the ground and does not reflect light
2. The ceiling shall be flat, and it is better to apply paint or emulsion paint,
or have flat metal surface, and do not support materials with insufficient
viscosity
3. There should be no big obstructions above the robot's road, so that
the machine can't see the QR code on the road
4. Ceiling to camera height between 1.5m and 2.3m
5. The QR code should be pasted in the middle of the road as much as
possible, not close to the obstacles
6.The two-dimensional code shall be pasted smoothly, and the circular
spot position of the two-dimensional code label shall not be inconsistent

with the original position due to too many wrinkles
7.The pasting distance of the QR code is 5-10 meters, and the corner and
intersection should be pasted
QR code paste method
figure 1 Before pasting
figure 2 After tearing
figure 3 After pasting
Pasting method: as shown in Figure 2, first tear off the white paper of the
QR code label, paste the transparent surface onto the ceiling, and then
tear the transparent surface, taking care not to drop the round or ring
spots during the tearing process, after completion As shown in Figure 3.
Where to place the QR code label
As shown in the figure: in“⭕” Place QR code at the corner and