ICE COBOTICS Cobi 18 User manual

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REV.01 (07-2022)
Cobi 18
User Manual

2Autonomous Hard Floor Scrubber Cobi 18
User Manual
About Cobi 18
Cobi 18 is a commercial-purpose Cobot (Collaborative Robot) hard floor scrubber developed by ICE
Cobotics. It is designed exclusively to scrub smooth hard floors in an indoor environment only, and it
should only be used with the authorized accessories of ICE Cobotics.
About i-SYNERGY
Equipped with i-SYNERGY, Cobi 18 has a leading IOT system in the cleaning industry which is
developed by ICE Cobotics. i-SYNERGY collects operating data from cleaning machines and transmits
the information to the server. The server generates daily reports and sends them to designated users
by email. From these reports, users will have information about each machines’ usage, performance
and even specific timings. In addition, i-SYNERGY also collects data on the lithium-ion battery, vacuum
motor, brush deck motor, transaxle, and other electrical components, at least once every minute when
the machine is in use and even during battery charging. i-SYNERGY will send notifications instantly to
the server in case of any malfunction. ICE Cobotics maintenance personnel will receive a SMS within
minutes from the server for immediate servicing.
About Cobi's Navigation System
Cobi 18 can be operated in either Autonomous Mode (without operator) or Manual Mode (with
operator). When in autonomous mode, the machine is driven by the Navigation System. The
Navigation System contains highly precise components such as the Navigation Control Unit, Lidar,
Cameras, and Sensors, and as such, any components not being authorized for installation or use in
the Navigation System might hinder or damage the functions of the Navigation System.
Cobi 18 should only be used by trained operators in controlled, restricted and approved environments.
Approved environments shall also be limited to cleaning areas with adequate cellular communication
signals permitting cellular data communicating with the machine to enable periodic safety-related
updates.
The operator must be mindful when using Cobi 18 in accordance with its intended use and precautions
at all times. Operators shall not, directly or indirectly:
• Operate Cobi 18 outside of the permitted use indicated by ICE Cobotics or in this User Manual;
•Modify, disassemble, tamper with, damage or misuse Cobi18, the Navigation System or
software;
•Use outdoors or in an inappropriate environment not within the operational domain of Cobi
18 (including without limitation, exposure to excessive moisture, heat, humidity, water or use in
location with steps, changes in gradient or low height physical harzards such as pools);
•Combine, operate or use of Cobi 18 with software, hardware, or other technology not provided
by ICE Cobotics and approved for use in connection with Cobi 18;
•Fail to use or implement corrections, enhancements, modification, or upgrades provides by ICE
Cobotics;
•Modify, improve, reverse engineer, duplicate, reproduce, or otherwise copy Cobi 18, the
Navigation System, software or this User Manual (in whole or in part);
•Remove, modify, deface, or replace any of ICE Cobotics's or any third party's proprietary
notices or marks which appear on, are affixed to, or are used in connection with Cobi 18.
Overview Introduction
This User manual provides necessary operation and maintenance
instructions about how to use the machine, it may be periodically
enhanced or revised, please read this manual carefully and
understand it well before operating or servicing it.

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Safety Precautions.............................................................................................................................................4-7
Unpacking the Machine...................................................................................................................................8-11
Machine Components....................................................................................................................................12-13
User Interface Instructions.................................................................................................................................14
Machine Accessories...........................................................................................................................................15
Machine Specifications........................................................................................................................................16
Machine Setup and Installation....................................................................................................................17-22
Machine Operation in Autonomous Mode.............................................................................................23-32
Best Practices for Autonomous Mode........................................................................................................33-34
Navigation System........................................................................................................................................35-38
Manual Mode Operation.................................................................................................................................39-40
Machine Maintenance.......................................................................................................................41-46
Battery & Battery Charger..............................................................................................................................47
Troubleshooting...................................................................................................................................................48
Fault Code & Solution...................................................................................................................................49-50
Wiring Diagram..............................................................................................................................................51-52
Declaration of Conformity.................................................................................................................................53
Table of Contents

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About Safety Precautions
Precautions presented here are intended to prevent harm to the user and other persons as well as
damage to property. Always observe the precautions. ICE Cobotics shall not be liable for any damages
incurred by the user or any third party who fails to follow any of these safety precautions and as
a result of the malfunctioning, misoperation, trouble, etc. experienced by the machine, battery, or
battery charger. This manual also gives safety precautions, correct handling procedures, and other
regulatory information for using the machine, battery, and battery charger. Precautions given herein
do not cover all possible situations that may arise. The safety of the operator and of passing and
nearby persons is a priority in any situation (the machine is not operating normally, it has fallen over,
etc.).
Always observe precautions regarding machine installation and use, and store this manual where
it can always be referred to. In the following emergencies, immediately press the emergency stop
button and turn off the main power switch.
• The machine is in a hazardous state. (example: emitting smoke, is inoperable, has fallen over, etc.)
• The machine has come close to inflicting harm on surrounding persons or property.
• The machine is operating (behaving) unpredictably or is moving differently than given in this
manual.
Description of Symbols
The following symbol categories explain the level of harm or damage that may occur if indications are
not observed and equipment is used incorrectly.
Read the guide after thoroughly understanding the indications.
*1 Serious injury refers to loss of eyesight, injury, burns (high-temperature, low-temperature),
electric shock, bone fracture, poisoning, etc. with lasting aftereffects and requiring hospitalization and
long-term hospital visits for treatment.
*2 Slight injury refers to injury, burns, electric shock, etc. although hospitalization and long-term
hospital visits for treatment are not required.
*3 Physical damage refers to damage extending to residence and property as well as livestock and
pets.
DANGER
Indicates a “probability of immediate danger of death or serious injury*1” with
incorrect handling.
WARNING
Indicates a “possibility of death or serious injury*1” with incorrect handling.
CAUTION
Indicates a “possibility of slight injury*2 and a probability of only physical damage*3”
with incorrect handling.
Safety Precautions

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DANGER
-Do not use, recharge, or store the machine in a place subject to excessive moisture,
temperature over 140°F / 60° C (near sparks or flames, near a heater, where there is direct
sunlight, in a car on a hot day, etc.) or in a warm place or where heat collects. Maintain
adequate ventilation and make sure not to cover with any kind of fabric.
* May cause deformation, malfunction, overheating, ignition, fire, electric shock, rupture, or
damage or the battery to leak.
* It may also cause a portion of the case to become hot and result in burns.
-Do not drop, break, deform, puncture, gouge, burn, or paint the machine.
* May cause ignition, electric shock, damage, chemical explosion, etc.
DANGER
Servicing, disassembly, and repair is not possible by persons other than by ICE Cobotics or
service staff approved by ICE Cobotics and having received approptiate training.
May cause an accident such as fire, injury, electric shock, etc. or malfunction. May also cause
leakage, overheating, rupture, ignition, etc. of the built-in battery pack.
DANGER
-Use only the supplied battery charger and battery when recharging the machine.
* May cause leakage, overheating, rupture, or ignition or overheating, ignition, malfunction,
etc. of the battery charger.
-Do not touch the battery, or battery charger for a long time when recharging the battery.
* May cause low-temperature burns.
DANGER
-Do not allow the equipment to fall over or drop when moving or transporting it.
-Do not expose the machine to dust in large amounts, sand, snow, ice, water, humidity,
saltwater environments, or brine mist (example: ocean environment, shore environment,
etc.).
-Do not expose to warm air from a dryer, etc., bring into a sauna, or splash with hot water
with a purpose such as drying equipment.
* May cause overheating, fire, electric shock, smoke, ignition, malfunction, injury, or leakage,
overheating, rupture, ignition.
DANGER
-The machine is specifically for indoor use. Do not use outside such as on a street.
-Do not use the machine in a stepped location, on an uneven floor (braille blocks), or on a
sloped surface over 2 degrees.
* The machine may fall over or drop and damage the machine or floor if travelling where
there are steps.
* Travelling on an uneven floor may prevent the sensors from operating normally.
-Do not use the machine in locations with low height physical harzards such as pools.
DANGER
-If wearing an implanted cardiac pacemaker or implanted defibrillator, maintain a distance of
at least 15 cm from the location of the implant.
* Electric signals may affect the operation of the pacemaker or defibrillator.
-Do not use it near electronic medical devices.
* The machine does not comply with UL or IEC 60601 standards (or equivalent standards).
Do not operate machine:
-Unless trained and authorized.
-Unless you have read and understand the operator manual.
-Without first ensuring the cameras, sensors and other external components of the machine
used for autonomous navigation are clean and undamaged before operating the machine.
-In flammable or explosive areas.
DANGER
Safety Precautions

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-Immediately discontinue use if anything unusual is noticed during use, recharging, or
storage such as noise, smoke, odor, etc.
* May cause burns, fire, or electric shock.
-When lifting the machine from the floor, always use two persons as a safety precaution.
* Not doing so may cause injury.
* May cause the machine to malfunction.
-Do not perform any operation not outlined in this manual.
-Do not place any decorative additions that may hinder the machine’s operation or the
emergency stop button.
-Do not cover the machine’s sensors.
-Do not clean the machine with a high-pressure cleaner.
-Do not use the machine to collect hazardous or explosive waste.
-Do not block the machine’s vents.
-Do not use where subject to vibration, impact, etc.
-Do not use the machine if the grounding strap is not in contact with the floor. If the grounding
strap breaks or comes off, please contact ICE Cobotics customer service.
-Be careful that dust does not adhere to the LIDAR sensor, camera, or other sensors.
-When using the machine in autonomous mode, follow the regular floor cleaning practice and
use appropriate signage (cleaning in process signage).
-When using the autonomous cleaning mode, make sure that the operator is able to respond
immediately to an alert received from i-SYNERGY. Not observing this may lead to an accident
involving the user, third persons, surrounding objects, etc.
-Use the machine with its wheels always in contact with the floor. When using the machine in
manual cleaning mode, avoid abrupt operation except where unavoidable.
-When the machine is not in use, store it in a safe location.
-Only use power cord appropriate for the country where machine is being operated.
-Do not use the battery charger or power cable if damaged.
-Always unplug the battery charger from the outlet if not using it for a long time or when
carrying out maintenance on it.
WARNING
WARNING
WARNING
WARNING
Safety Precautions
-Use the equipment within an ambient temperature range of 35.6°F / 2°C to 104°F / 40°C,
humidity of 10% to 80%. Also, store in a dry environment with no dust in an ambient
temperature range of 35.6°F / 2°C to 104°F / 40°C.
-Do not allow liquid (tap water, refreshment beverage, seawater, pet urine, etc.) any electric
conductive foreign objects (pencil lead, anything metal, metal necklaces or hairpins, etc.) to
touch the charging terminals or external connection terminals or to enter the equipment.
Otherwise, it may result in short-circuiting and cause fire, burns, malfunctioning, etc.
WARNING
-Use the battery only in the machine.
-Do not place objects on top of the battery.
-Do not subject the battery to impact, such as by placing objects on it or letting it fall.
-Do not throw the battery into a fire or heat.
-Do not connect the battery terminals with metal, etc.
WARNING

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-If there is an emergency, press the emergency stop button and then switch off the machine.
-If the machine is not operating normally (unusual sound, odor, smoke, etc.), immediately
press the emergency stop button, to stop machine operation, turn off the main power switch,
and contact customer service.
-Do not touch the machine while it is in operation other than in an emergency (except for
during manual operation).
CAUTION
Safety Precautions
-Do not come close to the machine while it is in operation.
* When cleaning in autonomous cleaning mode, the machine sometimes suddenly turns,
stops, or advances; coming close to the machine may cause injury.
-Do not allow feet or hands to come close to the bottom of the machine. Keep all infants,
children and pets away from the machine.
* They may be pulled under the machine, causing injury.
-Do not insert any objects in the machine.
* May cause overheating, fire, malfunction, etc.
-Do not adhere stickers or tape to the sensors and wheels.
* May cause sensors to not operate normally or malfunction.
CAUTION
-The Battery is installed inside the machine, unless authorized, do not remove the Battery
from the machine. Only use the ICE Cobotics specific battery.
-If you need to remove the battery from the machine, please turn off the ON/OFF switch of
the battery first, then unplug the battery connector and gently pull out the battery.
-If the machine is not in use for a long time, recharge the battery regularly.
CAUTION
-Always keep the battery door open while charging to allow for proper ventilation.
-Always unplug the charger when not in use or when servicing the machine.
-If the battery charger is not operating normally, takes a longer time to recharge than normal,
or if it produces sparks, smoke, odor, etc., immediately unplug it form the outlet, and contact
customer support.
-If thunder is audible, unplug the battery charger from the outlet.
-Do not step on the power cable or subject it to excessive force when it is connected to the
battery charger.
-Always hold the plug body and not the cord when plugging or unplugging the power cord.
CAUTION
-Always store the machine indoors, do not park the machine on a slope.
-Always store the machine in a dry area, do not store it in an area that may reach freezing
temperatures.
-Always store the machine in its upright position, keeping the handle in its folded position.
-Always store the machine with the Brush Deck and Squeegee raised off the floor.
-Always store the machine with empty tanks. Please rinse the solution tank and clean the
recovery tank before store the machine.
-Always leave the recovery tank lid open when storing the machine so the tank can properly
dry out.
CAUTION

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Unpacking the Machine
As a safety precaution, be sure to unpack with at least 2 persons.
• Inspect the packaging for any damage, do not discard the packaging and related materials.Securely store
the packaging as it will be required when storing the machine for a long period of time.
1. Check the packaging for any damage, immediately report to the carrier if any damage is found.
2. Remove the 4 clips that hold the upper box onto the base.
Clip

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Unpacking the Machine
3. With 2 persons, hold the handholds on the outer box, pull it up and remove it completely.
4. Remove the accessory boxes stored on the top of the packaging, it includes Main brush , Squeegee,
Mop, Side brushes and Hopper.
Handhold

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Unpacking the Machine
5. Continue to remove the packaging materials, including the upper foam and corner supports, fully exposing
the machine.
6. With 2 people, hold the hand holder on the machine, pull it up and remove it from the bottom box, then set
it on the floor gently.

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Unpacking the Machine
7. Remove the protective film from the Binocular Camera Module and 3DTOF.
8. Gently lay the machine on its back on the floor with its front facing upwards, remove the protective film from
the cliff sensors, unpacking is done.
DANGER If the protective film is not removed, the machine may not work properly.

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17 18 19 20 21
22
23
24
7
25
26
27
1. Transport Handle
2. 3DTOF
3. Turn Signal, Left-Front
4. Binocular Camera Module
5. Turn Signal, Right-Front
6. Working Light, V-Shape
7. Ultra-Sonic Sensor
8. Lidar
9. Bumper
10. Side Door, Left
11. Side Brush, Left
12. Front Caster Wheel
13. Side Brush, Right
14. Side Door, Right
15. Traction Wheel
16. Machine Lifting Point
17. Tank
18. Turn Signal, Left-Rear
19. Go/Stop Button
20. Touch Screen
21. E-Stop Button
22. Main Power Switch
23. Rubber Stand
24. Turn Signal, Right-Rear
25. Door, Battery Compartment
26. Window, Battery Charging Status
27. Mop Lock/Unlock Button
28. Mop
29. Squeegee
30. Cap, Vacuum Motor Exhaust
31. Rear Caster Wheel
32. Hopper
33. Cliff Sensor
34. Main Brush
28
29
34
33
32
15
30
31
11
Machine Components
1
2
3
4
5
6
7
8
9
11
121314
10
15
16

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34
35
36
37
38
34. Power Cord, Battery Charger
35. Li-ion Battery
36. Fuses
37. ON/OFF Switch, Battery Power
38. Stopper, Battery Installation
39. Brake Push Button
40. Rubber Socket, Dirty Water
41. Rubber Socket, Filter
42. Filter
43. Rubber Socket, Vacuum Motor
44. Seal, Recovery Tank Cover
45. Solution Tank Cap
46. Float Housing, Vacuum Motor Shut-off
47. Vacuum Standpipe Assy
48. Dirty Water Standpipe Assy
49. Debris Collector
50. Recovery Tank
51. Handle, Tank
52. Solution/Recovery Tank Assy
53. Drain Plug, Clean Water
54. Drain Plug, Dirty Water
Machine Components
39 40 41 42 43 44
47 4546
53
52 51 50 49 48
54

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1. Warning Message Bar
2. Setting Icon
3. Manual/Autonomous Mode Icon
4. Timed Task Icon
5. Time
6. i-SYNERGY Cloud Connect Status
User Interface Instructions
7. Communication Signal Status
8. Battery Condition Meter
9. Mapping Switch, Autonomous Mode
10. 1-Step Icon, Autonomous Mode
11. ECO/MAX Icon, Manual Mode
12. 1-Step Icon, Manual Mode
1578 234
9 10
1578 234
11 12
Autonomous
Mode
Manual
Mode
6
6

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Machine Accessories
Included Accessories delivered with the machine.
Side Brush x 2 Main Brush x 1
Hopper x 1 Squeegee x 1
Mop x 1 Home Location Code x 10

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Machine Specifications
Model Cobi 18
Product Name 18 inchAutonomous Hard Floor Scrubber
Dimensions(L x W x H) 480 mm x500 mm x700 mm
18.9 in x19.7 in x27.6 in
Voltage 24 VDC
BatteryCapacity 25 Ah
Battery Charging Time Approx 5 hr
RunTime Approx1.0-1.5 hr
RecoveryTankCapacity 11L / 2.9 Gal
SolutionTankCapacity 10L / 2.6 Gal
HopperCapacity(InTheory) 0.4 L / 0.1 Gal
CleaningPath Width 480 mm / 18.9 in
ProductivityRate(Projected) 500m2/ 5380 ft2
DriveMotor 2x60 W / 0.08 hp
DriveWheelSize Ø127 mm / 6 in
Max.TravelSpeed(Autonomous) 1.8Km/h
1.1 mph
SideBrushSize 2 x Ø100 mm / 3.9 in
Main BrushSize 70 mmx330 mm
2.8 in x 13 in
SideBrushMotor 2x12 W
BrushMotor 100 W / 0.13 hp
800RPM
VacuumMotor 300 W / 0.4 hp
560 mmH2O / 22 inH²O
Climbability (Autonomous Mode) 2%
Climbability (Manual Mode) 10%
FlowRate 150 ml/min
5 oz/min
Min. Turn-Around Aisle Width (Autonomous) 650 mm / 25.6 in

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Machine Setup and Installation
Main Brush Installation and Removal
1. Check and ensure the machine is turned off.
2. Remove the Tank assembly, Mop and Squeegee.
3. Gently lay the machine on its back on the floor with its front facing upwards.
5. Open the right-side door, hold the installing hub of the main brush, ensure the socket on the end aligns to
the drive gear correctly, turn left to lock the hub and install the main brush, turn right to unlock and remove
it.
6. Close the right-side door, gently raise the machine and put it in the upright position.
DANGER
Do not lay the machine down unless the Tank, Squeegee and Mop are removed. Failure to
remove components will cause water damage to the machine.

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Machine Setup and Installation
Side Brushes Installation and Removal
1. Check and ensure the machine is turned off, and the brush deck is in the up position.
2. Open the Left side door, hold the side brush and ensure the install socket is properly aligned to the drive
gear, simply push it up to lock and install, pull it down to unlock and remove, same procedure to install the
Right-side brush.
3. Close the side door.

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Machine Setup and Installation
Hopper Installation
1. Check and ensure the machine is turned off, and the brush deck is in the up position.
2. Open the Right-side door, hold the hopper on the end and ensure the magnetic surface faces up, simply push
it in to lock and install, pull it out to unlock and remove.
3. Close the side door.

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Machine Setup and Installation
Squeegee Installation and Removal
1. Check and ensure the machine is turned off, the squeegee holder is on the up position.
2. Hold the squeegee by pinching the 2 ears, ensuring the magnetic surface faces upwards, simply lift it up to
lock and install, pull it down to unlock and remove.