ZKTeco ZKBot-D1 User manual

ZKBot-D1 User Manual
Page | 1 Copyright©2020 ZKTECO CO., LTD. All rights reserved.
Thank you for choosing our product. Please read the instructions carefully
before operation. Follow these instructions to ensure that the product is
functioning properly. The images shown in this manual are for illustrative
purposes only.
For further details, please visit our Company’s website
www.zkteco.com.
User Manual
ZKBot-D1
Date: November 2022
Doc Version: 1.1
English

ZKBot-D1 User Manual
Page | 1 Copyright©2022 ZKTECO CO., LTD. All rights reserved.
Copyright © 2022 ZKTECO CO., LTD. All rights reserved.
Without the prior written consent of ZKTeco, no portion of this manual can be copied or forwarded in any
way or form. All parts of this manual belong to ZKTeco and its subsidiaries (hereinafter the "Company" or
"ZKTeco").
Trademark
is the registered trademark of ZKTeco. Other trademarks involved in this manual are owned by
their respective owners.
Disclaimer
This manual contains information on the operation and maintenance of the ZKTeco equipment. The
copyright in all the documents, drawings, etc. in relation to the ZKTeco supplied equipment vests in and is
the property of ZKTeco. The contents hereof should not be used or shared by the receiver with any third
party without express written permission of ZKTeco.
The contents of this manual must be read as a whole before starting the operation and maintenance of the
supplied equipment. If any of the content(s) of the manual seems unclear or incomplete, please contact
ZKTeco before starting the operation and maintenance of the said equipment.
It is an essential pre-requisite for the satisfactory operation and maintenance that the operating and
maintenance personnel are fully familiar with the design and that the said personnel have received
thorough training in operating and maintaining the machine/unit/equipment. It is further essential for the
safe operation of the machine/unit/equipment that personnel has read, understood and followed the safety
instructions contained in the manual.
In case of any conflict between terms and conditions of this manual and the contract specifications,
drawings, instruction sheets or any other contract-related documents, the contract conditions/documents
shall prevail. The contract specific conditions/documents shall apply in priority.
ZKTeco offers no warranty, guarantee or representation regarding the completeness of any information
contained in this manual or any of the amendments made thereto. ZKTeco does not extend the warranty of
any kind, including, without limitation, any warranty of design, merchantability or fitness for a particular
purpose.
ZKTeco does not assume responsibility for any errors or omissions in the information or documents which
are referenced by or linked to this manual. The entire risk as to the results and performance obtained from
using the information is assumed by the user.
ZKTeco in no event shall be liable to the user or any third party for any incidental, consequential, indirect,
special, or exemplary damages, including, without limitation, loss of business, loss of profits, business
interruption, loss of business information or any pecuniary loss, arising out of, in connection with, or relating
to the use of the information contained in or referenced by this manual, even if ZKTeco has been advised of
the possibility of such damages.
This manual and the information contained therein may include technical, other inaccuracies or
typographical errors. ZKTeco periodically changes the information herein which will be incorporated into

ZKBot-D1 User Manual
Page | 2 Copyright©2022 ZKTECO CO., LTD. All rights reserved.
new additions/amendments to the manual. ZKTeco reserves the right to add, delete, amend or modify the
information contained in the manual from time to time in the form of circulars, letters, notes, etc. for better
operation and safety of the machine/unit/equipment. The said additions or amendments are meant for
improvement /better operations of the machine/unit/equipment and such amendments shall not give any
right to claim any compensation or damages under any circumstances.
ZKTeco shall in no way be responsible (i) in case the machine/unit/equipment malfunctions due to any non-
compliance of the instructions contained in this manual (ii) in case of operation of the
machine/unit/equipment beyond the rate limits (iii) in case of operation of the machine and equipment in
conditions different from the prescribed conditions of the manual.
The product will be updated from time to time without prior notice. The latest operation procedures and
relevant documents are available on http://www.zkteco.com
If there is any issue related to the product, please contact us.
ZKTeco Headquarters
Address ZKTeco Industrial Park, No. 32, Industrial Road,
Tangxia Town, Dongguan, China.
Phone +86 769 - 82109991
Fax +86 755 - 89602394
For business related queries, please write to us at: [e-mail].
To know more about our global branches, visit www.zkteco.com.

ZKBot-D1 User Manual
Page | 3 Copyright©2022 ZKTECO CO., LTD. All rights reserved.
About the Company
ZKTeco is one of the world’s largest manufacturers of RFID and Biometric (Fingerprint, Facial, Finger-vein)
readers. Product offerings include Access Control readers and panels, Near & Far-range Facial Recognition
Cameras, Elevator/floor access controllers, Turnstiles, License Plate Recognition (LPR) gate controllers and
Consumer products including battery-operated fingerprint and face-reader Door Locks. Our security
solutions are multi-lingual and localized in over 18 different languages. At the ZKTeco state-of-the-art
700,000 square foot ISO9001-certified manufacturing facility, we control manufacturing, product design,
component assembly, and logistics/shipping, all under one roof.
The founders of ZKTeco have been determined for independent research and development of biometric
verification procedures and the productization of biometric verification SDK, which was initially widely
applied in PC security and identity authentication fields. With the continuous enhancement of the
development and plenty of market applications, the team has gradually constructed an identity
authentication ecosystem and smart security ecosystem, which are based on biometric verification
techniques. With years of experience in the industrialization of biometric verifications, ZKTeco was officially
established in 2007 and now has been one of the globally leading enterprises in the biometric verification
industry owning various patents and being selected as the National High-tech Enterprise for 6 consecutive
years. Its products are protected by intellectual property rights.
About the Manual
This manual is the operation manual of robot products. The content and version of this manual will be
updated without notice.

ZKBot-D1 User Manual
Page | 4 Copyright©2022 ZKTECO CO., LTD. All rights reserved.
Document Conventions
Conventions used in this manual are listed below:
GUI Conventions
For Software
Convention Description
Bold font Used to identify software interface names e.g. OK, Confirm, Cancel .
>Multi-level menus are separated by these brackets. For example, File > Create > Folder.
For Device
Convention Description
< > Button or key names for devices. For example, press <OK>.
[ ] Window names, menu items, data table, and field names are inside square brackets.
For example, pop up the [New User] window.
/Multi-
level menus are separated by forwarding slashes. For example,
[File/Create/Folder].
Symbols
Convention Description
This represents a note that needs to pay more attention to.
The general information which helps in performing the operations faster.
The information which is significant.
Care taken to avoid danger or mistakes.
The statement or event that warns of something or that serves as a cautionary
example.

ZKBot-D1 User Manual
Page | 5 Copyright©2022 ZKTECO CO., LTD. All rights reserved.
TABLE OF CONTENTS
SAFETY USE REQUIREMENT........................................................................................................................ 6
CHARGING PRECAUTIONS.......................................................................................................................... 7
1OVERVIEW............................................................................................................................................ 8
2COMPONENT OVERVIEW .................................................................................................................... 8
3SPECIFICATIONS .................................................................................................................................. 9
4INSTRUCTIONS FOR USE ................................................................................................................... 10
4.1 INTRODUCTION TO ROBOT..............................................................................................................................10
4.2USE OF BACKGROUND MANAGEMENT SOFTWARE...........................................................................................11
4.2.1. NAVI MODE ...................................................................................................................................................................................................11
4.2.2. BUILD MODE .................................................................................................................................................................................................12
4.2.3. POSITION ........................................................................................................................................................................................................13
4.2.4. VIRTUAL WALL ..............................................................................................................................................................................................14
4.2.5. SPECIAL AREA ...............................................................................................................................................................................................14
4.2.6. MODIFY MAP ................................................................................................................................................................................................15
4.2.7. MAP .................................................................................................................................................................................................................16
4.2.8. UPGRADE........................................................................................................................................................................................................16
4.2.9. DEBUG.............................................................................................................................................................................................................17
4.3 NAVIGATION DEPLOYMENT ............................................................................................................................17
4.3.1. NETWORK SETTINGS....................................................................................................................................................................................18
4.3.2. BUILD MAP ....................................................................................................................................................................................................19
4.3.3. VIRTUAL WALL ..............................................................................................................................................................................................23
4.3.4. POSITION ........................................................................................................................................................................................................24
4.3.5. START DELIVERING.......................................................................................................................................................................................26
5DAILY MAIN EVENTS ......................................................................................................................... 29

ZKBot-D1 User Manual
Page | 6 Copyright©2022 ZKTECO CO., LTD. All rights reserved.
Safety Use Requirement
1. Please use the robot within the temperature range of 5℃to 40℃, and store the robot and its accessories
within the temperature range of 0℃to 50℃.
2. Do not use it immediately after extreme temperature changes (such as moving from a cold outside to a
warm room).
3. Do not use the robot in dust, damp, rainy, dirty, or close to any magnetic fields.
4. Do not use the robot in an environment that is flammable, explosive, or close to any heat source.
5. Do not expose the robot to direct sunlight.
6. The floor of the robot operating area should be firm and level. It is not recommended to use on carpets,
soft and ravine floors, or outside ( Because the robot can move autonomously and perform a variety of
tasks, please exercise caution when moving on slopes to avoid accidental tipping or uncontrolled
operation of the robot, damage to the robot, and damage to equipment, facilities, and objects).
7. To avoid falling and damaging the robot, don’t not use it near escalators, stairs, or steps.
8. When using all-glass doors and walls, please pay attention to stick a safe and identifiable sign between
the glass and the ground between 22cm to 25cm.
9. To prevent injuries to people or damage to the robot from the operation of the robot, people should
remain a safe distance from the robot (1 meter away from the robot), especially children and things that
need to be transported.
10. Do not fall, drop, squeeze, bend, puncture, cut, microwave, incinerate or paint the robot and its parts.
11. Please do not attempt to disassemble the robot or its accessories, only authorised professionals can
perform disassembly work.
12. Do not apply excessive pressure on the screen and device to avoid damage, only use your fingers to
interact with the touch screen.
13. In order to ensure the reliability of this product and the safety of operation, please be sure to use the
exclusive accessories of this robot.
14. Avoid obstacles that are excessively low in height (The height of the obstacle shall not be lower than the
installation position of the ultrasonic sensor and the laser sensor, and should not be lower than 25cm).

ZKBot-D1 User Manual
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Charging Precautions
1. Please charge the robot using the original DC power cord and charging pile that emerged with it.
2. Please use a power supply with proper grounding, complying with local laws and regulations and the
requirements of this manual otherwise, it will cause electric shocks and damage to the robot.
3. The robot is prohibited from personnel touch and operation while charging.
4. Do not drop or hit the charging pile.
5. Do not touch the power cord with wet hands, or pull out the charging pile by pulling the power cord.
6. Prevent the charging pile from being drenched by rain, liquid, and damp.
7. If you do not use the robot for a long time, it is recommended that you charge the robot every 15 days
or so to ensure that the battery is always in the best active state.
8. Do not use this batteries for other devices.
9. Do not try to touch the charging pile and the output end of the charging port of the robot as there may
be certain risks.
10. The charging pile layout area needs to be against the wall, and it is open within a radius of 2 meters.
Special Attention: Improper operation of the battery will cause accidents such as battery explosion, fire,
leakage and corrosion.

ZKBot-D1 User Manual
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1Overview
This document describes the functions of robots. It is an intelligent meal delivery robot. Its major goal is to
increase restaurant productivity and profitability while reducing the labour intensity of restaurants waiters.
2Component Overview
Number Component
1 7-inch Display
2 Microphone
3 Smart Lighting
4 Lidar
5 Depth Vision Camera
6 Infrared Sensor
7 Automatic Charging Contacts
8 Emergency Stop Switch
9 Infrared Camera
10 Continue with one Click
11 Power Switch

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3Specifications
Specification Name Parameter
Operating System Android 5.1.1
CPU RK3128
Overall Size Diameter: 500mm, Height: 1300mm
Screen Size 7 inch LCD TFT Touchscreen (resolution 1024*600)
Tray Size (L*W) 320*400mm
Number of Tray 3
Single Tray Loading Capacity 10Kg
Machine Total Loading Capacity 30Kg
Move Parameters
Moving Speed 0.1 ~ 0.8m/s
Narrowest Aisle Moving (width) 80cm
Climbing ≤5°
Rotation Radius 360° (Avoiding Obstacle)
Swing Radius 254mm
Navigation Method Laser Navigation + Visual Positioning + Visual Obstacle Avoidance
Lidar Laser wavelength 905 nm, working area 270°
Infrared Camera Two-dimensional code positioning (the height of the two-dimensional
code from the camera is 1 to 3m or 1 to 5m); 5 million pixels
3D Camera Recognition Range: 45 degrees up and down, 58 degrees left and right
Communication WiFi (Support dual frequency 2.4 & 5 GHz WiFi IEEE 802.11 b/g/n);
4G LTE (Card Slot)
Memory 1GB (LPDDDR3)
FLASH 8GB (Built-in NAND)
USB Communication Interface Micro USB interface
Battery Capacity 24V 20AH
Battery Life About 10 hours
Charging Time 4A (about 8 hours), 7A (about 5 hours)

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Software Embedded Mobile Application (Delivery)
Robot Management Software: (B/S Basic Server)
Chassis Material ABS Plastic
Environmental Requirements
Operating temperature: 5℃to 40℃
Environment humidity: 5% to 85%
Storage temperature: 0℃to 50℃
Certifications CE, ISO9001
4Instructions for Use
4.1 Introduction to Robot
1. Power On
Press and hold the Power On/Off button shown in the picture for about 1 or 2 seconds and then release,
the machine's internal test indicator will light up, and wait for the machine to turn on.
2. Shutdown
Press and hold the Power On/Off button for about 3 seconds, the screen will turn off first and then the
robot will power off.
3. Charging
The DC plug needs to be inserted into the automatic charging pile, and then the adapter plug is inserted
into the voltage of 110 to 220V. At this time, the green light of the charging pile will be ON, indicating
that it is ready to charge.
1) Manual charging: Push the robot to the charging pile, so that the charging pad on the back of the
robot is in full contact with the charging pad on the charging pile, and the charging pile display
light shows “Red” to indicate that the robot is charging.

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2) Automatic charging: Refer to the following navigation deployment, deploy the charging pile,
open the [Delivery] application on the Android screen of the robot, and customize the power value
that triggers automatic recharging.
4.2 Use of Background Management Software
4.2.1. Navi Mode
1. After the network deployment is complete, in the browser's search box, enter the robot's navigation IP
to access the background software interface (All operations of this software on the robot require the
emergency stop switch of the robot to be turned ON).
Note: The router network segment cannot be the 192.168.10.x network segment, and it is
recommended to use uppercase for network names.
2. [Navi mode]> [DRAG & DROP]: This mode allows you to zoom, pan and rotate the map.
3. [Navi mode] > [NAVI]: Click this button, you can click and drag any area on the map where the robot
can walk, and the robot will walk to the specified location.
4. [Navi mode] > [CHARGE]: Click this button, and the robot will go to the charging pile for charging
operation.
5. [Navi mode] > [INCREMENTAL MAPPING]: When you need to add or reduce the placement of some
objects on the original or already built map, you can use the incremental map function.
1) Enter the map that needs to be modified. click the INCREMENTAL MAPPING button in the
navigation mode to enter the incremental map mode, as shown in the following figure.

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2) Then build a map according to the method of "unlabeled map construction". When the machine
passes through the place where objects are added or reduced, it will be automatically recorded on
the map. The picture below is an example.
Before Incremental Mapping After Incremental Mapping
4.2.2. Build Mode

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[Build mode] > [LASER MAPPING]: The robot can begin scanning the map it wants to build, once it is in
the map-building mode, and the scanned image will gradually appear on this page.
4.2.3. Position
1. [Position] > [CALIBRATE]: You can calibrate the dining table, production point, and recycling point by
dragging and dropping the coordinates of the selected place on the map (the table can be represented
by numbers, the production point by product point, and the recycling point by recycling point).
2. [Position] > [ROUTE]: After clicking this button, click any point in the drivable range on the map to start
planning a fixed route on the map for the machine to navigate.
3. [Position] > [MEASURE]: Click any two points on the map to get the straight-line distance between the
two points.
4. [Position] > [CUR POSITION]: Click this button to get the current position of the robot for punctuation.
5. [Position] > [CHARGING PILE]: Place the charging shrapnel of the robot facing the shrapnel of the
charging pile, and then click Charging Pile to calibrate. The icon will automatically move forward while
calibrating (Note: only this point is an exception).
6. [Position] > [CALIBRATION LIST]: Click this button and a list will pop up on the right side of the screen,
namely the positions list and the routes list.
7. [Position] > [Point]: Clicking this button will show all the marked points.
8. [Position] > [Route]: Clicking this button will show all the routes created.

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4.2.4. Virtual Wall
1. [Virtual wall] > [DRAG&DROP]: This mode can zoom, pan and rotate the map. In this mode, press Ctrl
+Left Mouse Button to select a rectangular area, and the virtual wall in this area will be cleared.
2. [Virtual wall] > [DRAW CURVES]: You can draw a curve, which is often used to draw irregular terrain.
3. [Virtual wall] > [DRAW LINE]: Click two positions, and a straight line is automatically drawn between
the clicked positions. It is often used for regular terrain or rough drawing of an approximate area.
4. [Virtual wall] > [ERASER]: Circle the virtual wall you want to clear.
5. [Virtual wall] > [SAVE]: Only click the Save button to save the drawn virtual wall.
6. [Virtual wall] > [CLEAR ALL]: If you are not satisfied with the current virtual wall, click the Clear button
to clear all the virtual walls (To make changes, you must click the Save button).
4.2.5. Special Area

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1. [Special area] > [NEW]: Click on the map with the Left Mouse Button to draw polygons at will. After
completion, the naming box of the area will pop up to define the area and speed.
2. [Special area] > [MODIFY]: Adjust the edited speed area, click the speed area that needs to be edited,
then the color of the area will change (the lines around the selected area will become thicker and turn
red), then pull the line to change the area size adjustment.
3. [Special area] > [AREA LIST]: After clicking, the edited area list will pop up on the right side of the page.
You can redefine the speed and name of the area in the area list and delete the area.
4. [Special area] > [CLEAR ALL]: Refers to the special area that can clear all edits with one click.
Note: To save your changes, click the Save button.
4.2.6. Modify Map
The premise of editing the map: If an obstacle is missed during the scanning process, or the map has
changed after the scanning is complete, and the change is minor, you can edit the map using the edit map
feature. It is recommended to rescan the map if the map is too different from the actual environment.
1. [Modify map] > [SAVE]: Changes to the map on this page must be saved before they take effect.
2. [Modify map] > [CLEAR ALL]: Clear drawn polygons.
3. Drop-down Menu:Different map area types can be selected.
1) [Modify map] > [Empty area]: Remove noise (For example: The noise left by pedestrians walking
on the map during the scanning of the map and temporary obstacles, etc.), and do not remove real
obstacles as noise.
2) [Modify map] > [Blocked area]: Some real fixed obstacles may not be scanned very clearly when
building the map, so you need to manually draw obstacles on the map (Note that the drawn
obstacles must match the obstacles that the real laser can scan).
3) [Modify map] > [Unknown area]: Some frequently changing feature points need to be drawn as
unknown areas (For example: The flow area of people outside the glass wall where robots will not
walk).

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Note: In the same way as the special area operation, the interior of the drawn polygon is the modified
area.
4.2.7. Map
In this mode, you can modify the map name, apply this map, export this map, and delete this map. Hover
the mouse to display the preview map and then Click to display the original map.
4.2.8. Upgrade
Tip: We will upgrade to the latest version before the robot leaves the factory. If you need to update the
version later, follow the steps below. This version can be applied or deleted in this mode.

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4.2.9. Debug
1. [Debug] > [Power ON]: Turn ON 36V external power supply.
2. [Debug] > [Power OFF]: Turn OFF the 36V external power supply.
3. [Debug] > [Navi speed]: Adjust the navigation speed of the robot ( m/s) .
4. [Debug] > [POWER BOARD UPGRADE]: No need to upgrade because the factory already has the most
latest versions.
5. [Debug] > [File Management]:
1) BIRTHDAY MODE: Can upload mp3, wav files.
2) CRUISE MODE: Can upload mp3, wav files.
3) ADVERTISE DISPLAY: Can upload png / jpeg / webp / jpg / wav / avi / mp4 files.
4.3 Navigation Deployment
Note: The following information is an introduction to all of the robot deployment background functions.
The functions that must be used are depicted in the image at points 1, 2, 3, and 4. Other functionalities are
dependent on the scenario and use conditions.

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4.3.1. Network Settings
1. Press the power button and wait for the power to be turned ON, after the boot is completed, it will
automatically enter the food delivery software and pop up the language selection interface, please
select the language you need, and then connect it to the network. If you need to set the boot auto-start,
you need to return to the Android interface (mentioned in the second point below the operation of
returning to the Android interface), and then long press the blank space of the Android main interface,
the PREFERENCE button will appear, click this button to enter the setting interface.
2. Connect to the Internet:
1) Select the network you need to connect to, and then enter the password and connect.
2) If it shows that the WIFI is not connected, you need to return to the Android system to connect it to
the Android WI-FI and enter the FTP to connect to the navigation WIFI. The details are as follows:
Click the button in the upper left corner of the interface to return to the main interface of the
software, and click the robot model in the upper right corner of the main interface three times
continuously. And pull down from the top of the interface, the navigation key will appear, click the
middle button of the navigation key that appears at the bottom of the screen to return to the main
Android interface.
A. Android Wi-Fi: Open the [Settings] > [WLAN] on the Android screen of the robot to connect
to Wi-Fi.
B. Navigate Wi-Fi: Open the FTP application to enter the following interface, and follow the steps
shown in the figure below. If the Wi-Fi password already exists, just click Send WiFi
information to connect to ROS.
a) Check the Wi-Fi Name you want to connect to.
b) Enter the Wi-Fi Password.
c) Send Wi-Fi information to the navigation system (just click once, don't click repeatedly).
d) If the IP address is displayed, the connection was successful, as can be seen on the left. (If
shows 127.0.0.1, then the connection is failed, as shown on the right.)
Connect Success Connect Fail
C. The background device should be connected to the same LAN as the robot. Open a browser
and enter the IP address of the robot (Chrome browser recommended).
Note: If the connection to Wi-Fi fails, you can click Send Wi-Fi information to connect it to
ROS again to reconnect. If it still fails, you can connect to another network or restart the robot.

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3. After entering the main interface, there will be interface guidance. Please follow the guidance language
to carry out the following operations, and click the Confirm button to enter the map deployment
interface.
Note: Please deploy according to voice guidance.
4.3.2. Build Map
After the network connection is successful, the map starts to be drawn. The purpose of the map is to let the
robot understand the work environment.
The robot needs to scan the actual environment (picture on the left) to construct an "original map (picture
on the right)", and the machine can find its own position by comparing it with the original map according
to the real-time scanning situation during the navigation process.
The scanning range of the lidar is the horizontal plane of the lidar height, and the viewing angle is 270°. The
scanning distance is 25m. Ask the person to stand behind to push the robot, or use the keyboard arrow keys
to control the robot to build a map.