SMART Spark UVC User manual

UVC Disinfection Robot Manual
Smart Restaurant Solutions 1
Spark UVC Disinfection Robot Manual
Version：2.1.4 G
Date: December 27, 2021
Note:This document provides the deployment process and precautions related to the machine. The use
method indicated in the document can avoid the abnormal situation during the later use of the machine.

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Contents
1. Introduction to Robot...................................................................................................................................................... 4
Robot use environment requirements..................................................................................................................... 4
Hardware parameters................................................................................................................................................... 5
Meet your robot ............................................................................................................................................................ 8
2. Use your robot................................................................................................................................................................... 9
A. Boot.............................................................................................................................................................................. 9
B. Charging....................................................................................................................................................................10
C. Navigation deployment........................................................................................................................................13
The step 1 [ Network Settings ].......................................................................................................................13
The step 2 [ Build a map ] ................................................................................................................................. 14
The Step 3 [ Position ] ........................................................................................................................................ 21
The step 4 [ Virtual wall ]................................................................................................................................... 23
3. Explanation of other functions....................................................................................................................................27
a [ Special Area ].................................................................................................................................................. 27
b [ Modify map ].................................................................................................................................................. 28
c [ Map ]................................................................................................................................................................. 30
d [ Upgrade ].........................................................................................................................................................30
e [ Debug ].............................................................................................................................................................31
4.Precautions for the use of UV lamps .......................................................................................................................... 34

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5. Precautions for use ................................................................................................................................................ 36
①Lost of robot positioning...............................................................................................................................36
②The robot does not navigate........................................................................................................................38
③The machine navigation does not respond to charging.......................................................................39

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1. Introduction to Robot
Robot use environment requirements
Please use the robot in accordance with the instructions of the manual. Any
loss caused by improper use shall be borne by the user.
✓Don't use the robot 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 the robot in an environment with a slope greater than 5°
✓Do not use the robot in bathrooms and similar environments
✓There should be no densely placed thin-legged chairs in the travel area
✓Do not use the robot in an environment above 50°C and below 0°C
✓Do not use the robot on uneven roads
✓There are a lot of transparent glass and thin-legged tables and chairs, the
possibility to be used or not depends on the construction of the map and
the test situation

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Hardware parameters
Hardware parameters
Index performance
Product specification
Product Size
Length 450mm * Width 450mm * Height 1560mm
Product Weight
50kg
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
Lamp specifications
UV lamp
6*Philips TUV T8, UV output: 30W UVC,
Android specifications
Operating system
Android 5.1
Language support
Chinese,English
Processor type
RK3128
Memory LPDDDR3
1G

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Built-in NAND FLASH
8GB
USB Debug port
Micro USB interface
Touch screen
7 inch, IPS screen (16:9) resolution 1024X600
External I/O port
1 USB 2.0 (MICROUSB), RJ45 network port
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
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
The minimum 0.1 m/s，maximum 1 m/s
Navigation board
Intel Core I5 motherboard

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Power system
Charging method
Automatic recharge, DC direct charge
Adapter
Input:AC110-240V.50-60HZ Output:DC42V-3A(5A
optional)
Robot input power
42V--3A（5A Optional）
Battery
37 V/20 AH lithium battery
Charging pile
parameters
Overcurrent protection, intelligent power off,
output rated voltage: 42VDC, output rated
current: 3A (5A optional)
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
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 UV disinfection robot:
①Infrared vision camera
②Touch screen
③Ultraviolet disinfection lamp
④Infrared sensor
⑤Automatic charging shrapnel
⑥Ultrasound
⑦Hub Motor
⑧Universal Wheel
⑨Emergency stop switch
⑩Lidar
⑪3D camera (reserved)
⑫power button
⑬Power socket

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Cleaning precautions: ②Touch screen ⑩Lidar, please do not wipe it with a
wet towel to avoid water ingress!
Precautions for use: ⑩Lidar: 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
2. Use your robot
A. Boot
The power button is located on the base ⑫on 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

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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 110-220V 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

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Placement of charging pile
Notes on the selection of charging pile location

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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.
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

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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)
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.
The step 2 [ Build a map ]
➢The purpose of building the map is to let the robot know the working

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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 25 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. Unlabeled map construction
It is recommended to use unlabeled map construction. If the robot loses
positioning during use, please contact the technician in the group to
investigate the specific reason.
1. Please follow the order of the figure below to enter the building
page
①get IP from FTP software
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 switch and push the machine to create a map
2. After entering "build mode", the machine first turns around to

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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 terrain, and
then go. As shown below:

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Figure 1: Laser does not match 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: The laser matches the terrain (some areas require the robot
to turn around 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 "Finish". 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. 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.
2. 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 "Finish". If there is any dismatch, please

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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 label 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.
➢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, to
avoid that the machine can't see the QR code on the road.
4. The height between the ceiling and the camera is 1m to 5m.
5. The QR code should be pasted in the middle of the road as much as
possible, not close to the obstacles.

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6.The QR code shall be pasted smoothly, and the circular spot
position of the QR 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
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.
Note: Paste the QR code in the place designated by the technician. After the
pasting is complete, create a map according to the method of "unlabeled code
map construction". When the machine passes under the QR code, it will