ECHO Robotics RP-1200 User manual

©2019 ECHO Incorporated. All Rights Reserved.
Technical Manual
Range Picker
RP-1200
EN ENGLISH
P/N 99922205439
VERSION 1.0
08/06/2019
www.echorobotics.com
DRAFT 08-06-2019

i
Chapter: 1 Important Information . . . . . . . . . . . . . . . . . . . . . . . . . . . 1
Administrative Support . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1
Service and Parts . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1
FCC Declarations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1
California Proposition 65 . . . . . . . . . . . . . . . . . . . . . . . . . . . 1
Chapter: 2 Safety Information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1
Safety Symbols . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2
Chapter: 3 Theory of Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2
Chapter: 4 System Components . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3
Robot Components . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3
Charging Station Components . . . . . . . . . . . . . . . . . . . . . . . . 6
Drop Pit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6
How the Robot Works . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6
Chapter: 5 Installation Example . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
Chapter: 6 Robots, Ball-Collecting Capacity, and Working Areas . . . . . . . . . 12
Mowing Robots . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12
Adapting the Mowing Robots to Work On a Golf Course . . . . . . . . 12
Ball Collecting Robots . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12
Ball Collecting Capacity . . . . . . . . . . . . . . . . . . . . . . . . . . . 12
Working Areas . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12
Chapter: 7 Charging Station Requirements . . . . . . . . . . . . . . . . . . . . . 13
Type of Charging Stations . . . . . . . . . . . . . . . . . . . . . . . . . 13
Positioning of Charging Stations . . . . . . . . . . . . . . . . . . . . . . 13
The Drop Pit Charging Station . . . . . . . . . . . . . . . . . . . . . . . 14
Chapter: 8 Drop Pit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14
Location of the Drop Pit . . . . . . . . . . . . . . . . . . . . . . . . . . 15
Drop Pit Elevator . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
Drop Pit Without Elevator . . . . . . . . . . . . . . . . . . . . . . . . . 15
Drop Pit Ramp . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
Chapter: 9 Wire Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
Station Loop Wire Installation . . . . . . . . . . . . . . . . . . . . . . . 15
Station Loop Wire Inside of Peripheral Wire . . . . . . . . . . . . . . . 16
Station Loop Wire Installation With Multiple Robots . . . . . . . . . . 16
Peripheral Wire Installation Next to Landscaping . . . . . . . . . . . . 17
Multiple Peripheral Wire Installation . . . . . . . . . . . . . . . . . . . 17
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ii
Multi-Field Peripheral Wire Installation . . . . . . . . . . . . . . . . . . 18
Obstacles . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19
Islands . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21
Pseudo-Islands . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21
Sloped Fields . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22
Configuration Settings, Single Ball-Collecting Robot, Single Field Installation 22
Configuration Settings,
One Mowing Robot,
One Ball-Collecting Robot,
Single Field Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
Chapter: 10 Technician Settings Menu . . . . . . . . . . . . . . . . . . . . . . . . . 33
Infrastructure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34
Stations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37
Mobile Connection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38
Demonstration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39
Service . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39
Technician Settings Advanced parameters . . . . . . . . . . . . . . . . 42
Chapter: 11 Using the Robot . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42
Safety Measures . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42
Actions Menu . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43
Service Menu . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43
Service Menu . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47
Chapter: 12 Error Messages . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 51
Chapter: 13 Connecting to Robots . . . . . . . . . . . . . . . . . . . . . . . . . . . 51
Direct Interaction with the Robot . . . . . . . . . . . . . . . . . . . . . 51
Remote Access Via the Web Server . . . . . . . . . . . . . . . . . . . . 52
Using the Application . . . . . . . . . . . . . . . . . . . . . . . . . . . . 59
Chapter: 14 Accessing the Web Server . . . . . . . . . . . . . . . . . . . . . . . . . 59
To Modify Your Profile . . . . . . . . . . . . . . . . . . . . . . . . . . . 59
To Change Your Password . . . . . . . . . . . . . . . . . . . . . . . . . 59
Chapter: 15 My Robots . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 60
Search for a Robot . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 60
Add a Robot to the Favorites List . . . . . . . . . . . . . . . . . . . . . 60
View the Current Status and Issue a Command . . . . . . . . . . . . . 60
View the Robot History . . . . . . . . . . . . . . . . . . . . . . . . . . . 60
Viewing the History as a Chart . . . . . . . . . . . . . . . . . . . . . . . 60
Viewing the History In a Table . . . . . . . . . . . . . . . . . . . . . . . 60
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iii
To View the Alarm History of a Robot . . . . . . . . . . . . . . . . . . . 61
To View a Map of a Robot's Movement . . . . . . . . . . . . . . . . . . 61
To View a Robot's Statistics . . . . . . . . . . . . . . . . . . . . . . . . 61
To View Identification Information for a Robot . . . . . . . . . . . . . 61
Chapter: 16 Creating Accounts . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 61
Creation of Accounts by a Parent Entity . . . . . . . . . . . . . . . . . 61
Creation of an Account by an End-user . . . . . . . . . . . . . . . . . . 62
Account Activation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 63
Chapter: 17 Management . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 63
Manage Entities . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 63
Manage Robots . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 63
Manage Users . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 63
Managing Entities . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 63
Managing Robots . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 64
Managing Users . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 64
Chapter: 18 Notifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 65
To Add a New Notification . . . . . . . . . . . . . . . . . . . . . . . . . 65
To Modify a Notification . . . . . . . . . . . . . . . . . . . . . . . . . . 65
To Delete a Notification . . . . . . . . . . . . . . . . . . . . . . . . . . 65
Chapter: 19 Documentation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 65
Chapter: 20 Using the Application . . . . . . . . . . . . . . . . . . . . . . . . . . . 66
Chapter: 21 Robot Maintenance . . . . . . . . . . . . . . . . . . . . . . . . . . . . 66
Maintenance Chart . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 66
Winter Service Check List . . . . . . . . . . . . . . . . . . . . . . . . . 66
General Inspection and Cleaning. . . . . . . . . . . . . . . . . . . . . . 68
Chapter: 22 Service Procedures . . . . . . . . . . . . . . . . . . . . . . . . . . . . 69
Sonar Replacement . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 69
Bumper Replacement . . . . . . . . . . . . . . . . . . . . . . . . . . . 70
Front Lift Cushion Replacement . . . . . . . . . . . . . . . . . . . . . . 70
Rear Lift Cushion Replacement . . . . . . . . . . . . . . . . . . . . . . 71
Front Wheel Replacement . . . . . . . . . . . . . . . . . . . . . . . . . 71
Rear Wheel and Gear Motor Replacement . . . . . . . . . . . . . . . . 71
Battery Removal and Installation . . . . . . . . . . . . . . . . . . . . . 72
Correcting Stop Button Lid Closure Problems . . . . . . . . . . . . . . 73
Chapter: 23 Torque References . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 74
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iv
Range Picker Body . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 75
Electrical Box, Battery, and Housing . . . . . . . . . . . . . . . . . . . . 76
Chassis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 77
Rear Sensors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 78
Wheels . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 79
Wheel Gearbox . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 80
Barrow Components . . . . . . . . . . . . . . . . . . . . . . . . . . . . 81
Barrow Frame . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 82
Chapter: 24 Technical Specifications . . . . . . . . . . . . . . . . . . . . . . . . . 83
Battery . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 83
Weight and Dimensions . . . . . . . . . . . . . . . . . . . . . . . . . . 83
Software and Monitoring . . . . . . . . . . . . . . . . . . . . . . . . . 83
Intelligence . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 83
Safety . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 83
Dimensions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 84
DRAFT 08-06-2019

IMPORTANT INFORMATION
ADMINISTRATIVE SUPPORT
1
1 Important Information
©2019 ECHO Incorporated. All Rights Reserved.
This manual, or parts thereof, may not be reproduced
in any form, by any method, for any purpose.
ECHO has taken reasonable care in compiling this docu-
ment, however ECHO accepts no liability whatsoever
for any error or omission in the information contained
herein and gives no other warranty or undertaking as
to its accuracy.
ECHO can accept no responsibility for damages,
resulting from the use of the operating software. In
addition, we refer to the conditions of use specified in
the license contract. ECHO reserves the right to amend
this document at any time without prior notice.
ECHO and its affiliates are not liable for damages or
losses related to such security breaches, any unautho-
rized access, interference, intrusion, leakage and/or
theft of data or information.
This manual contains the original instructions. Informa-
tion contained in this manual is provided as an indica-
tion and is in no way contractual. It can be changed by
ECHO, without the need for prior announcement.
Obtain updated information at: myrobot.echoro-
botics.com.
The robot has been designed to high safety standards.
Risk is always possible. Read and understand all Safety
Information.
This manual refers to Generation 2.0 series of robots
with software version 4.0.
1.1 Administrative Support
Send emails to: [email protected].
1.2 Service and Parts
Only use an authorized Authorized ECHO Robotics
Dealer for service procedures.
Genuine ECHO Robotics parts and are available only
from an Authorized ECHO Robotics Dealer. Always
supply a model and serial number when purchasing
parts and assemblies.
www.echorobotics.com
1.3 FCC Declarations
This equipment has been tested and found to comply
with the limits/or a Class A digital device, pursuant to
part 15 of the FCC Rules. These limits are designed to
provide reasonable protection against harmful inter-
ference when the equipment is operated in a commer-
cial environment. This equipment generates, uses, and
can radiate radio frequency energy and, if not installed
and used in accordance with the instruction manual,
may cause harmful interference to radio communica-
tions. Operation of this equipment in a residential area
is likely to cause harmful interference in which case the
user will be required to correct the interference at their
own expense.
DANGER
!
1.4 California Proposition 65
Cancer and Reproductive Harm
www.P65Warnings.ca.gov
2 Safety Information
Throughout this manual and on the product itself, you
will find safety alerts and helpful, informational
messages preceded by symbols or key words. The
following is an explanation of those symbols and key
words and what they mean to you.
Circle and Slash Symbol:
This symbol means the specific action shown is prohib-
ited. Ignoring this symbol can result in damage to prop-
erty and serious or fatal injury.
The safety alert symbol accompanied by the word
“DANGER” calls attention to an act or condition which
WILL lead to serious personal injury or death if not
avoided.
The safety alert symbol accompanied by the word
“WARNING” calls attention to an act or condition which
CAN lead to serious personal injury or death if not
avoided.
The safety alert symbol accompanied by the word
“CAUTION” calls attention to an act or condition which
may lead to minor or moderate personal injury if not
avoided.
The enclosed message provides information necessary
for the protection of the unit.
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2
THEORY OF OPERATION
SAFETY SYMBOLS
2.1 Safety Symbols 3 Theory of Operation
The robot collects golf balls in a random pattern. The
robot fills its internal collection basked with balls.
When the basket is full, the robot moves to a charging
station with a ball drop pit. When the robot docks at
this charging station, it triggers the release of the balls
from the basket.
A peripheral wire buried in the ground defines the
collection area.The charging station energizes the
peripheral wire. An electromagnetic field is generated
within the working area.When the robot senses the
location of the peripheral wire, it stops, turns back into
the field, and continues to collect balls.
The robot is equipped with obstacle detection sensors.
When the robot detects an obstacle it will slow down,
contact the obstacle, then perform a maneuver to
avoid it.
When the battery of the robot needs to be charged, or
the robot is filled with balls, it will stop, move toward
the peripheral wire, then follow a trackborder back to
the station loop wire. When the robot detects the
station loop wire, it follows it to the charging station.
The station loop wire guides the robot into and out of
the charging station.
When the robot docks at the charging station it
releases the collected balls into a drop pit.
Safety and Information Label
Caution: The robot can be dangerous if
misused.
Never place hands or feet under the
robot while operating.
Beware of projectiles. Keep a safe
distance.
Keep animals away from the robot.
Water cleaning with high pressure jet
systems can cause damage.
The robot is protected by an access
code.
Read the technical manual before using
the robot.
Always stop the robot and wait for the
cutting blades to stop before handling
the robot.
Always keep a safe distance from the
robot while handling.
Do not ride the robot.
Keep bystanders away from the robot.
Protective gloves must be worn when
handling the robot, especially the
cutting system.
The robot is equipped with an
anti-theft system.
1 – Robot
2 – Collection area
4
6
1
5
7 3 2
5
8
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SYSTEM COMPONENTS
ROBOT COMPONENTS
3
4 System Components
4.1 Robot Components
3 – Peripheral wire
4 – Charging station
5 – Obstacle
6 – Station loop peripheral wire
7 – Trackborder
8 – Drop pit
1 – Charging station (for mowing robot)
2 – Robot
3 – Charging station (for ball-collecting robot)
4 – Drop pit
5 – Internet portal
6 – End user
5
1
2
6
3
4
1 – Stop button - Press to stop the robot.
Smartbox - A graphical user interface used to set configuration
parameters.
2 – FCC label
3 – Serial number label
4 – Cover
5 – Sonar sensors - Detects object in the path of the robot.
6 – Front wheel
7 – Bumper - A pressure sensor which will cause the robot to
change direction when it touches an obstacle.
8 – Rear wheel
9 – Charge contact- Connects to the charging arm on the charging
station.
10 – Ball deflectors - Pushes balls outwards to prevent the wheels
from rolling over them.
11 – Collecting roller - A set of rotating discs which picks up balls
and drops them into a collection basket.
12 – Collecting basket - The basket that holds the balls before
they are unloaded into a drop pit.
13 – Li-Ion (Lithium Ion) battery - Supplies power to the robot.
14 – Electrical box - Contains the electronics and the gear drive
motors.
15 – Coil - Detects the magnetic field generated by the peripheral
wires.
16 – Power switch
8
1
4
5
7
6
1
2
3
88
8
9
9
10
10
11
12 13 14
15
16
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4
SYSTEM COMPONENTS
ROBOT COMPONENTS
4.1.1 STOP Button
Located on the top of the robot. Press or lift to stop the
robot.
4.1.2 The Smartbox
The smartbox is used to set configuration parameters,
it is located under the stop button lid.
The LCD Screen
4.1.3 Sonar Sensors
Four obstacle detection sonar sensors transmit a sonar
signal of 40 kHz. The sensors allow the robot to detect
and react to obstacles.
Sensors detect obstacles with minimum height of
15.7 in. (400 mm), and a minimum width of 2.0 in.
(50 mm).
When the signal hits an obstacle, it is reflected back to
the sensors. The speed of the robot is reduced to less
than 0.5 mph (0.2 m/s).
1 – Stop button
1 – Numeric buttons - Press to select menu choices and enter
numeric values.
2 – LED screen - Displays the current information.
3 – LED - Indicates the smartbox is switched ON.
4 – ON button - Press to turn the smartbox ON.
5 – Navigation buttons - Press to highlight menu options.
6 – Back button - Press to exit a menu and return to previous
level.
7 – Accept button - Press to accept an operation or setting.
8 – Service menu button - Press to access the service menu.
9 – Settings menu button - Press to access the settings menu and
define operational settings.
10 – Actions menu button - Press to access the actions menu.
1
31 2
6
8
0
4 5
7 9
X
4
1 2 3
5
6
10 9 8 7
1 – Name - The name of the robot.
2 – WiFi / Mobile connection - Indicates the robot is connected as
a WiFi client. When blinking, it is trying to connect. When steady,
it is connected.
3 – WiFi access point - Indicates the robot is connected.
4 – GPS - Indicates the robot can detect at least four satellites and
that it knows its current location. If blinking, it indicates the robot
can not detect enough satellites.
5 – Battery charge level - Percentage of battery charge.
6 – Message - Shows the current status of the robot (also displays
error messages).
7 – Time and date (24-hour clock only).
1 – Sensor assembly
1 3 2 4 5
6
7
шϮϬŝŶ
;ϱϬŵŵͿ
шϭϱϳŝŶ
;ϰϬϬŵŵͿ
ϭ
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SYSTEM COMPONENTS
ROBOT COMPONENTS
5
When the bumper contacts an object, the robot will
touch the object, stop, move backwards, and by
default, turn between 60° and 120°, then continue
moving forward.
4.1.4 Cover Displacement Sensors
The robot has two cover displacement sensors. If an
obstacle causes the cover to be pushed backwards, the
robot will, stop, move backwards, and by default, turn
between 60° and 120°, then continue moving forward.
If the robot cannot avoid the obstacle it will register
and alarm and remain in safe mode.
4.1.5 Coil
The coil detects the intensity of the magnetic field that
is generated by the peripheral wire.
4.1.6 Tilt / Rollover / and Temperature
Sensors
These sensors are located on the main circuit board
inside of the electrical box.
The tilt sensor detects the angle of the slope on which
the robot is working. If this angle exceeds 30° (58%), an
alarm will be raised and the robot will stop moving.
The rollover sensor detects if the robot has been tipped
upside down, or whether someone is trying to start the
robot when it is upside down.
The temperature sensor measures the ambient
outdoor temperature and will prevent the robot from
operating if this temperature is too low. The minimum
temperature is set as an operating parameter.
4.1.7 Detectors
1) Full Basket Detector – This flap is rotated upward
by the presence of balls in the basket. When this
basket is full, the robot will go to the drop pit to
unload the balls.
2) Ball Counting Band – A pressure sensitive band
located on the underside of this component. As
the balls are ejected from between the collection
discs and hit this band, they are counted.
3) Rotational Speed Detector – The rotational
speed of a marker on the roller is picked up by a
sensor on the chassis. If the speed is too low, the
roller may be blocked. The robot will try to
remove the blockage. If the blockage cannot be
removed, the robot will return to the charging
station and issue an alarm.
1 – Sensor attachment point
2 – Sensor assembly
1
1
2
2
22
1 – Coil assembly
1
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6
SYSTEM COMPONENTS
CHARGING STATION COMPONENTS
4.2 Charging Station
Components
4.3 Drop Pit
The drop pit is where the balls are deposited by the
robot. It is located in front of a charging station.
When the robot has collected a certain number of balls,
or after a defined time period, it moves to the charging
station with a drop pit. When the robot docks at the
charging station it will release balls into the drop pit.
4.3.1 Location of the Drop Pit
4.3.2 Drop Pit With Elevator
4.3.3 Drop Pit Without Elevator
4.3.4 Drop Pit Ramp
4.4 How the Robot Works
The robot works in the Autonomous Mission State,
Inactive State, or the Service State.
4.4.1 Operational States and Descriptions
1 – Full basket detector
2 – Ball counting band
3 – Rotational speed detector
1 – Enclosure top
2 – Dust cover
3 – Charging arm
4 – Enclosure base
5 – Input panel
6 – Serial number location
1
3
2
4
6
1
5
2
3
1 – Drop pit
2 – Charging station
Operational State Description
Autonomous
Mission State
The robot operates in cycles
in which it collects balls or
charges the battery.
Inactive State
The robot can enter an
inactive state if there is a
condition that causes the
Autonomous Mission State to
stop. The robot will return to
the autonomous mission state
when the problem has been
resolved or when a specific
command has been issued.
Service State
Initiate this state to access the
Demonstration and
Maintenance Test modes.
2
1
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SYSTEM COMPONENTS
HOW THE ROBOT WORKS
7
4.4.2 Autonomous Mission State
The robot performs programmed instructions when in
the Autonomous Mission State. NOTE: Programmed
instructions can be over-ridden by instructions acti-
vated from the smartbox.
For a single robot application, one charging station can
activate the function of the drop pit, and charge the
robots battery.
For a multiple robot application, one charging station is
dedicated for drop pit functions only. This charging
station does not charge a robot’s battery. Other
charging stations are dedicated for battery charging
only.
Work Mode
The robot randomly collects balls from the area inside
the peripheral wire.
When the robot approaches the peripheral wire it
slows down and passes over the wire. The coil senses a
change in phase. This causes the robot to stop, move in
reverse, turn through a defined angle, then continue in
a new direction.
When the robot contacts an obstacle it will maneuver
away from it.
While the robot is working balls are collected and
stored in its basket. When the number of balls collected
has reached a certain number, or a certain time period
has passed, the robot will move towards the charging
station connected to the drop pit in order to unload the
balls. The parameters for defining when the balls
should be unloaded are set as part of the installation
configuration.
At a certain moment, the robot will make the decision
to return to charging station. The reasons may be:
• the battery needs to be charged
• programmed collection time has ended (for
multi-field installations, this corresponds to the
collection schedule for the field in which the
robot is currently working)
Autonomous
Mission Modes Robot Function
Work Mode The robot moves randomly over
its work area collection balls.
Return to
Station Mode
The robot will to return to a
charging station to unload balls,
charge its battery, or wait until
its next working session begins.
Unload Balls
Mode
The robot collects balls and holds
them in a basket. When either a
certain number of balls has been
collected or a certain amount of
time has passed, the robot will
go to the drop pit to unload the
balls.
Charge Battery Docks at a charging station and
charges the battery.
Wait in station Remains at the charging station.
Go Zone
The robot goes through a set of
maneuvers before going to the
required work zone.
1 – Peripheral wire
1
60° - 120°
DRAFT 08-06-2019

8
SYSTEM COMPONENTS
HOW THE ROBOT WORKS
• a specific command has been issued
• the temperature is too low
Return to Station Mode
The robot will return to a station to:
• to unload balls
• charge its battery
• wait until the next working session is scheduled
The station it returns to depends on:
• whether the station is connected to a drop pit
• whether the installation contains more than one
ball-collecting robot
When the robot is working, the roller that picks up the
balls contacts the ground. The roller is rotated by the
movement of the robot.
When the robot is returning to the station, it is not
collecting balls. The roller is lifted up into the chassis
and does not contact the ground.
Unload Balls Mode
The robot collects balls and holds them in a basket.
When either a certain number of balls has been
collected or a certain amount of time has passed, the
robot will go to the drop pit to unload the balls.
Charge Battery Mode
The robot will return to a charging station specifically to
charge when:
• the battery need to be charged
• the scheduled work period has ended
• a specific command has been issued
If there is only one ball-collecting robot operating, it
will return to the charging station with the drop pit. If
there are multiple robots working in the area, it will
return to its specific charging station.
When the robot decides it needs to return to a charging
station (at Point A), it will take the shortest route to the
trackborder of the field it is working in.
NOTE: This may not be the working field nearest to the
drop pit. In this case, the robot will follow the track-
border of the outer field until it reaches the track-
border of the field closest to the station.
It will then follow the trackborder of the field closest to
the station until it detects the specific frequency of the
station loop wire connected to its charging station
(Point B). In this example, it is charging station 2.
At Point B it will follow this station loop wire until it
arrives at the charging station, where it will charge the
battery, or, wait in that station until required to
continue working.
1 – NOTE: Cutaway view of robot shown.
2 – Roller position collecting balls
3 – Roller position not collecting balls
1
2
1 – Charging station 1
2 – Charging station 2
3 – Charging station 3 (with drop pit)
4 – Station loop 1
5 – Station loop 2
6 – Station loop
1
A
B
A
2 3
4 5 6
7
8
DRAFT 08-06-2019

SYSTEM COMPONENTS
HOW THE ROBOT WORKS
9
Wait In Station Mode
The robot will stay in the charging station once the
battery has been charged until:
• the normal program needs to commence
• a specific command is issued
Go Zone Mode
In this mode the robot performs a maneuver to leave
the charging station and continue working.
This same maneuver is executed whether the robot is
leaving the drop pit station or a charging station. In the
example shown below, the robot is leaving a charging
station.
The robot will leave the charging station and follow the
station loop wire until it reaches Point A, which is inside
the trackborder of the field nearest the charging
station.
At this point it will turn and follow the trackborder of
this field until it reaches point B, when it will turn into
the zone to work. The distance traveled long the track-
border and the angle at which the robot turns into the
field are set as installation parameters.
NOTE: The robot will move along the trackborder of the
field closest to the station until it reaches an outer field.
It will then follow the trackborder in this field before
turning into it to start working.
Go Zone Mode describes the maneuvers the robot
makes to leave the charging station and start collecting
balls.
4.4.3 Inactive Modes
There are four inactive modes: Alarm Mode, Standby
Mode, Self Test Mode, and OFF Mode.
Alarm Mode
When the robot encounters a problem it will register
an alarm and enter the inactive mode. When the cause
for the alarm has been corrected, the user can manu-
ally clear the alarm and the robot will then enter the
Standby mode. If no intervention takes place, the robot
will turn off and enter the OFF mode.
Standby Mode
The robot will enter the Standby mode if:
• the autonomous mission has been stopped due
to an external command
• an alarm situation has been corrected and the
alarm cleared by manual intervention
• it is manually switched ON
Self Test Mode
Whenever the robot has been in the Standby Mode it
will perform a self test to check the integrity of the
entire system (including electronics, sensors,
mechanics and software). When the result of the self
test is successful, it will resume the autonomous
working state. If the result of the self test is not
successful, it will register an alarm.
OFF Mode
The robot will be in the OFF mode when:
• it has been manually switched OFF
• an alarm situation has not been corrected after a
certain period of time
7 – Trackborder
8 – Peripheral wire of field closest to charging station
1 – Charging station
2 – Station loop wire
3 – Trackborder
4 – Peripheral wire
A
1
3
B
4
2
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10
SYSTEM COMPONENTS
HOW THE ROBOT WORKS
4.4.4 Go Zone Mode
Go Zone Mode describes the maneuvers the robot
makes to leave the charging station and start working.
One Field With Station Loop
This configuration contains one peripheral wire and
one station loop wire.
When the robot leaves the charging station it follows
the station loop wire until it reaches Point A. This is a
predefined distance along the field peripheral wire. At
Point A, the robot will follow the trackborder of the
field until it reaches Point B. At Point B, the robot will
turn into the field and start working. The distance trav-
eled along the trackborder and the angle at which the
robot turns into the field, are specified in the StartZone
parameters for the field.
Two Fields With Station Loop
This configuration contains a peripheral wire for each
field and one station loop wire.
Before leaving the charging station the robot will deter-
mine which field to start working in. This will depend on
the defined working schedule for each field. If the
schedule dictates that a specific field must be worked
at this time, the robot will startworking in that field.
If there are no schedule constraints, the robot will
choose the field based on the percentage values. Over
a period of time the robot ensures that it starts in each
field according the defined proportions.
When the robot leaves the charging station it follows
the station loop wire until it reaches Point A. At Point A,
the robot will turn and follow the trackborder of Field
1, until it reaches Point B. Point B is where the two
fields overlap.
When the robot is in Field 2, it will travel for a certain
distance along the Field 2 trackborder until it reaches
Point C. At Point C, the robot will turn into the field and
start working. The distance traveled along the Field 2
trackborder, and the angle at which the robot turns
into Field 2, are specified in the StartZone parameters
for Field 2.
4.4.5 Service State
Initiate this state to access the Demonstration and
Maintenance Test modes.
Maintenance Test
A set of maintenance tests are available from the Tech-
nicians Settings menu.
AB
Field 1 trackborder
Field 2 trackborder
C
B
A
2
1
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INSTALLATION EXAMPLE
HOW THE ROBOT WORKS
11
5 Installation Example
The following figure represents the components of a typical golf course installation.
Area A is the high-density ball area. Area B is the working area.
Use a minimum of one range picker and one mower for
a typical installation.
Install a peripheral wire to encompass the entire
working area. This peripheral wire defines the limits in
which the robots will work. Preparation and mainte-
nance of the outfield is essential for the optimal opera-
tion of the robots.
Install an additional peripheral wire to encompass the
area of the driving range where most of the balls will
need to be collected.
Install a charging station and a station loop wire for
each mowing robot used in the working area. The
station loop wire is required to enable the robot to
return to its specific charging station.
Install one charging station combined with a drop pit
for the ball-collecting robots to deposit the balls.
If more than one ball-collecting robot is in use, install
the “busy loop wire”. If two ball-collecting robots are
approaching the drop pit at the same time, this wire
ensures that the second robot will wait until the first
1
3
3
1
3
2
4
8
9
9
A
B
6
6
6
10
5
78
1 – Mower charging station
2 – Range picker charging station
3 – Station loop wires
4 – Busy wire
5 – Peripheral wire (for working area)
6 – Obstacles
7 – Peripheral wire (for high-density ball area)
8 – Range picker robot
9 – Mowing robot
10 – Driving range bay
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12
ROBOTS, BALL-COLLECTING CAPACITY, AND WORKING AREAS
MOWING ROBOTS
robot has discharged all its balls and moved away. The
second robot will then dock with the charging station
attached to the drop pit.
Obstacles must be avoided. This is achieved by move-
ments executed by the robot when a sensor has
detected the obstacle. Permanent obstacles may need
to be avoided by the positioning of the peripheral wire
around them, thus creating islands and pseudo islands.
Clean and inspect the robot everyday.
NOTE: The presence of an operator is essential for the
management of the golf course. This operator should
receive alarm messages from both the ball-collecting
and the mowing robots.
6 Robots, Ball-Collecting
Capacity, and Working
Areas
Use a minimum of one mowing and one ball-collecting
robot for the installation.
6.1 Mowing Robots
Correct mowing affects the quality of the grass and the
efficiency of the ball-collecting robots. If the grass is too
long it will be torn by the collecting process and will
accumulate in robot’s collection basket. This would
require an in increase in the frequency of cleaning.
6.2 Adapting the Mowing Robots
to Work On a Golf Course
Cutting Blade Installation
Ball Deflector Installation
6.3 Ball Collecting Robots
Ball collecting robots work within the area defined by
the peripheral wire. Install the ball-collecting robot to
operate in the area with the highest ball density.
Productivity is greatly reduced if the ball density is low.
6.4 Ball Collecting Capacity
Asses the number of ball-collecting robots required and
the definition of the areas in which they will work.
Identify the number of balls hit per weekday and
weekend day. This can be estimated by considering the
following:
• Each driving range bay is used by 5 to 10 players
per day during summer.
• Each player plays for about 30 minutes, meaning
each bay is used between 2.5 and 5 hours per
day.
• Each player hits between 50 and 100 balls per
during the 30 minute session.
• The minimum number balls/day/bay is
5 x 50 = 250.
• The maximum number balls/bay/day is
10 x 100 = 1,000.
Identify the number of balls available at the facility.
This is the number of balls which can be hit without
collection. In general, multiply the number of balls used
on a peak day by 1.5.
The robot can collect a maximum of 10,000 balls per
day.
The capacity of the basket is 250 balls. When it is full
the robot must return to the drop pit.
The robot requires 1.5 hours to charge the battery. It
can work for 4.5 hours per charge.
The optimal situation is to have the robot operating for
a maximum of 4 hours per day in the high density zone.
Having it work for more than 4 hours results in an
“empty” high density zone and an “over-populated”
outer zone.
It is recommended to send the robot to the high
density zone 3 hours after start of the peak period. If
the peak period goes from 9:00 AM till 5:00 PM, make
robot focus on the high density zone from noon till
4:00 PM.
6.5 Working Areas
Assuming that the grass is correctly mowed, the
productivity of the robot operating in the total working
area would be too low because of the low density of
balls. It is recommended to restrict the robot to
working in the high density area and to use an alterna-
tive method to collect balls over the balance of the
entire working area once a week.
Consider using two separate fields if:
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CHARGING STATION REQUIREMENTS
TYPE OF CHARGING STATIONS
13
• There a clear high density zone (four times higher
than the density elsewhere) on busy days.
• The high density zone is 30% of the entire
working area.
• The robot is working close to its collection
capacity (8,000 to 12,000 balls per day
depending on density).
7 Charging Station
Requirements
The ball-collecting robots require one charging station
which is connected to a drop pit where the balls are
discharged. One charging station is also required for
each of the other ball-collecting and mowing robots.
All charging stations require a station loop wire.
If more than one ball-collecting robot is in use, install
the “busy loop wire”. If two ball-collecting robots are
approaching the drop pit at the same time, this wire
ensures that the second robot will wait until the first
robot has discharged all its balls and moved away. The
second robot will then dock with the charging station
attached to the drop pit.
7.1 Type of Charging Stations
Single Zone - This charging station supports the station
loop wire. This wire is required for the robot to return
to the charging station.
Single Zone and Station Loop - This station supports:
• one peripheral wire (defines the single zone
working area)
• one station loop wire (returns robot to charging
station)
Two Zone and Station Loop - This station supports:
• one station loop wire
• one busy-loop wire (for multi-robot operation)
Note: See the installation dimensions in the
following image
• one peripheral wire (defines the working area)
7.2 Positioning of Charging
Stations
• place charging stations together as a group with
easy access to a power supply
1 – Charging station
2 – Station loop wire
2
1
1 – Station loop wire
2 – Peripheral wire
1 – Station loop wire
2 – Busy loop wire
3 – Peripheral wire
21
3
2
1
LQ
PP
LQ
PP
LQ
PP
DRAFT 08-06-2019

14
DROP PIT
THE DROP PIT CHARGING STATION
• position the charging station on a straight section
of the peripheral wire
• minimum length of wire on the incoming and
outgoing side is 8.2 ft. (2.5 m)
• minimum distance between charging stations is
49.2 ft. (15 m)
• the minimum obstacle-free zone is 20 ft. (6.0 m)
When the charging stations are located in a driving
range, place them a minimum of 100 ft. (30 m) from
the driving range bays. This will reduce the risk of
damage to the if they are struck by a ball.
7.3 The Drop Pit Charging Station
Mount the drop pit charging station on a concrete base
witch contains no reinforcing mesh or any other
metallic parts.
Recommended dimensions of the concrete base:
8 Drop Pit
The drop pit is required for the robot to deposit the
balls it has collected.
If there is only one ball-collecting robot, only one
charging station is required. This charging station will
trigger discharge of the balls and charge the robot's
battery.
When the robot arrives at the drop pit, contact with the
charging station arms triggers the release of the balls.
If there is more than one ball-collecting robot, the drop
pit charging station needs to be accessible to all of
them. In this case the busy loop wire is installed to indi-
cate that the drop pit is in use and that a second robot must wait to access it.
1 – Charging station
2 – Station loop wire (–>–>–>–> movement of robot)
3 – Peripheral wire
1 – Charging station
2 – Driving range bay
ϰϵϮŌ
(15.0 m)
ϴϮŌ
(2.5 m)
ϴϮŌ
(2.5 m)
ϲϱŌ
(2.5 m)
ϲϱŌ
(2.5 m)
1
2
2
3
1
2
11
1 – Charging station
2 – Concrete base (top view)
3 – Concrete base (end view)
4 – Drop pit
5 – Power supply location
6 – Peripheral wire
1
4
5
2
3
6
6.5 ft.
(2.0 m)
6.5 ft.
(2.0 m)
6.0 in.
(150 mm)
3.3 ft.
(1.0 m)
3.3 ft.
(1.0 m)
28.3 in.
(720 mm)
DRAFT 08-06-2019

WIRE INSTALLATION
LOCATION OF THE DROP PIT
15
8.1 Location of the Drop Pit
The robot will dock at the drop pit charging station
multiple times per day. Consider the location carefully.
Reinforce the surface leading to the drop pit to avoid
excessive wear.
Place the drop pit charging station so the robots do not
pass in front of the driving range bays. Failure to do so
may allow a ball to hit the robot, bounce back, and
cause injury.
Placing the drop pit charging station close to the driving
rang bays has advantages and disadvantages.
Advantages:
• Best solution when balls are being retrieved
manually at the drop pit.
• Only solution if the transfer of the balls to the
washer or dispenser is close the driving range
bays and is made using lifts or conveyors.
Disadvantages:
• The robot visits the drop pit 30 to 50 times a day,
leaving visible tracks over the wire and next to
the drop pit.
• The movements of the robot and the noise of the
ball transfer system can distract players.
• The distance from the high density area where
the robot is working to the drop pit is very long.
Placing the drop pit charging station away from the
driving range bays has advantages and disadvantages
also.
Advantages:
• Tracks made by the robot are out of sight.
• Movements and noise is kept away from the
players.
• The drop pit is close to the high density area.
Disadvantages:
• A hydraulic or a pneumatic transfer system is
required to transfer balls between the drop pit
and the washer or dispenser.
• The movements of the robot and the noise of the
ball transfer system can distract players.
8.2 Drop Pit Elevator
8.3 Drop Pit Without Elevator
8.4 Drop Pit Ramp
9 Wire Installation
Avoid standing water, holes and ruts, and obstacles
when installing wire.
To avoid standing water (and damp areas):
• install drains
• stake the area
• use islands or pseudo-islands
To correctly prepare holes and ruts:
• drain all water
• fill with topsoil
• plant grass seed
To avoid obstacles
• install islands
• install pseudo-islands
9.1 Station Loop Wire
Installation
The station loop wire can be installed completely inside
of the field (Figure A), or partially inside of the field
(Figure B). The wire must extend a minimum of 13 ± 1.6
ft. (4.0 ± 0.5 m) into the field.
The distance between the center of the charging
station and the end of the station loop wire is 8.2 ft.
(2.5 m) minimum.
DRAFT 08-06-2019