SMART Hussar User manual

Hussar Robot Chassis Manual
Smart Restaurant Solutions 1
Hussar Robot Chassis Manual
Version : 2.1.4G
Date : 2022-1-6
Note: This document provides the deployment process and precautions
related to the machine. Follow the instructions in the document to avoid
abnormal situations when the machine is used later.

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Catalogue
1, Introduction of Robot.......................................................................................................................................... 4
Environmental Requirements for Robots.................................................................................................... 4
Hardware parameters....................................................................................................................................... 5
Meet your robot................................................................................................................................................. 5
2，Use your robot..................................................................................................................................................... 7
1. Boot........................................................................................................................................................... 7
2. Charging .................................................................................................................................................. 8
3. Navigation deployment.....................................................................................................................10
The step 1 [ Connect to the Internet ]........................................................................................10
The step 2 [ Build a map ]..............................................................................................................12
The Step 3 [ Position ].....................................................................................................................19
The step 4 [ Virtual wall ]...............................................................................................................21
3, Explanation of other functions........................................................................................................................24
a [ Special Area ] ..............................................................................................................................24
b [ Modify map ]..............................................................................................................................25
c [ Map ] .............................................................................................................................................27
d [ Upgrade ].....................................................................................................................................27
e [ Debug ].........................................................................................................................................28
4, About infrared vision camera ..........................................................................................................................30

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1, Introduction of Robot
Environmental Requirements for Robots
Please use this product in accordance with the instructions of the
manual. Any loss caused by improper use shall be borne by the user.
✓Do not use in places with 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 30 cm
✓Do not travel on the ground with high friction: thicker, softer carpet
✓Do not use in an environment with a slope greater than 5°
✓Do not use in bathrooms and similar environments
✓There should be no densely placed thin-legged chairs in the travel area
✓Do not use in an environment above 50°C and below 0°C
✓Do not use on uneven roads
✓There are a large number of transparent glass and thin-legged tables
and chairs, which can be used depending on the construction and
testing conditions

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Hardware parameters
Hardware parameters
Index performance
Product specification
Product Size
Length 540mm * Width 360mm * Height 372mm
Product Weight
32kg
Product color
white
product material
Cold rolled steel sheet
Environmental requirements
Storage temperature: -15°C~55°C; Working
temperature: -10°C ~ +50°C Humidity (RH): 10%~90%
Infrared camera
Two-dimensional code positioning (the height of the
two-dimensional code from the camera is 1-3m or
1-5m); 5 million pixels
Android specifications
operating system
Android 5.1
language support
Chinese,English
Processor type
RK3128
Memory LPDDDR3
1G
Built-in NAND FLASH
8GB
USB Debug port
Micro USB interface
Display screen
7 inch, IPS screen (16:9) resolution 1024X600
External I/O port
1 USB 2.0 (MICROUSB), RJ45 network port

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speaker
4Ω/3W mono speaker
Wireless technology
AP6255
Support dual frequency 2.4&5G
WIFI 802.11b/g/n Wireless local area network,
11ac 5.15GHz-5.825GHz
ROS navigation specifications
Operating system
LINUX
Lidar
Laser wavelength 905 nm working area 270°
Single axis gyroscope
sensor
Yaw angle measurement
hard disk
32G high-speed solid state drive
motor driven
5.5 inch hub motor
Infrared sensor
Communicate with charging piles within 1 meter
4G router to 2.4GWIFI
4GCPE-M6 ( optional )
512AN_HMW Module
Intel WIFI
Support dual frequency 2.4&5G
WIFI&BT4.1 802.11b/g/n Wireless local area
network11ac 5.15GHz-5.825GHz
Moving speed
Minimum 0.1 m/s，Maximum 1 m/s
Navigation board
Intel Core I5 motherboard
Power system
charging method
Automatic recharge, DC direct charge
adapter
Input: AC110-240V.50-60HZ

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Output: DC42V-5A
Robot input power
42V--5A
battery
37 V/10 AH lithium battery（20AH Optional）
Charging pile parameters
Overcurrent protection, intelligent power off, output
rated voltage: 42VDC, output rated current: 5A
Remote function
Support remote video monitoring, remote navigation
status monitoring, remote online update navigation
system, Android system
noise
At rest：45dB
Under exercise：50~75dB(Different floor materials are
slightly different)

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Meet your robot
①Laser
②Universal wheel
③Driving wheel
④Emergency stop switch
⑤Infrared sensor
⑥In-line power hole
⑦Power button
⑧Automatic charging shrapnel
⑨Uitrasound
Cleaning precautions: ①Laser navigation, please do not wipe it with a wet
towel toavoid water ingress!
Precautions for use:①Laser: Do not block the laser with objects
④Emergency stop switch: the emergency stop switch can only be
rotated to the right, do not rotate to the left

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Hardware structure
①Usb board
②Android Wi-Fi cable
③master computer
④Red:12v Black：GND
⑤Speaker
⑥Visual infrared camera
⑦4g Router secondary antenna
⑧4g Router main antenna

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Installation of 4G router main and secondary antenna
Note: The antenna cannot be pasted on metal parts, nor can it be pasted in the surrounding metal part
shielding cover; it should be pasted on the
surrounding plastic parts to prevent the antenna
signal from being shielded by the metal parts. (It
can also be pasted inside the infrared vision camera
module shell)
①4G router secondary antenna ②4G router main antenna
2，Use your robot
A. Boot
The power button is located on the base ⑦on 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.

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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!
B. Charging
Get to know your charger：The adapter plug needs to be plugged into
the 110-220 V voltage, and the DC head 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.
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)

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Direct charging: plug the power adapter cable into the power supply on
the back of the robot
Automatic charging hardware description
Charging post placement

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Location selection and precautions of charging pile
C. Navigation deployment
Note: The following content is an introduction to all the
functions of the robot deployment background. The functions
that must be operated are as shown in points 1, 2, 3, and 4 in the
following figure. Other functions depend on the specific
scenarios and usage conditions.

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The step 1 [ Connect to the Internet ]
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".

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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)
④If show IP, connection succeeds (If shows 127.0.0.1, connection
fails)
3. The scanning device should be connected to the same LAN as
the robot. Open the browser and input the IP address of the
robot (Chrome browser is recommended)
If the Wi-Fi connection fails, you can click ③again to reconnect.
If it still fails, you can connect to another network.

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The step 2 [Build a map ]
➢The purpose of building the map is to let the robot know
the working environment
⚫The robot needs to scan the actual environment and construct
an "original map". During the navigation process, the robot
can compare with the original map based on the real-time
scanning situation and find its own position.
⚫The viewing angle of the Lidar is 270°, and the scanning range
is the horizontal plane of the radar height; the scanning
distance is 20 meters
⚫Ask people to stand back and push the robot, or use the
keyboard arrow keys to control the mapping

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A. No label code map construction
It is recommended to build a non-label map. If the robot is lost during the
use process, please contact the technician in the group to investigate the
specific reasons
1. Please follow the order of the figure below to enter the
building page
①get IP from FTP software

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Mapping method：You 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 switc push the machine to create a map
2. After entering "map mode", the machine first turns around to
clear the surrounding feature points. And don't turn it too fast.
You can push(control) the robot after one turn. You can walk
straight in narrow areas. Pay attention to the gaps during walking.
Slowly turn the robot 90°facing the gaps to clear 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

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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.

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matters needing attention:
1. The characteristic points are obvious, where the terrain is neat
as the start and end point, and slowly turn around at the
beginning to scan the surrounding environment clearly.
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.
B. Map construction with QR code
To build a labeled map, you need to paste the label code in advance. If you
need to use a labeled map, please contact the technician in the group to
evaluate whether you need to use this method.