SLAMTEC RK3399 Hermes Powered Programmable Sensor-Packed Hermes Robot Chassis User Manual

User Manual for SLAMTEC models including: RK3399, Hermes Powered Programmable Sensor-Packed Hermes Robot Chassis

Echo Hu

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EN SLAMTEC Hermes usermanual v2.0 english-211013

1.INTRODUCTION ........................................................................................................ 4
2. INTRODUCTION TO HERMES FEATURES .............................................................. 5
2.1Autonomous Path-Finding .................................................................................... 5 2.2Robot Collaboration ............................................................................................... 5 2.3Cross-Floor Delivery ............................................................................................... 5 2.4Smart Obstacle Avoidance .................................................................................... 5 2.5Comprehensive Safety ........................................................................................... 5 2.6Autonomous Recharging....................................................................................... 5
3. HERMES SCHEMATIC DIAGRAM ........................................................................... 6
4. HERMES CHARGING STAND .................................................................................. 7
5. PARAMETERS ........................................................................................................... 8
6. INSTRUCTIONS OF HARDWARE .......................................................................... 11
6.1 Wire Instructions ................................................................................................. 11 6.2 Important Interfaces of Developing Board on RK3399 ................................. 14 6.3 Reference of Hardware Design .......................................................................... 14
7. REFERENCE OF STRUCTURE DESIGN...................................................................25
7.1 Installing Interface of Host Computer..............................................................25 7.2 Instruction of Load Limit .................................................................................... 25 7.3 Radar Clearance Area .......................................................................................... 26 7.4 Deep Camera Clearance Area.............................................................................27 7.5 Instruction of Transport Design ........................................................................ 27
8. SETUP INSTRUCTIONS .......................................................................................... 29
8.1 Opening ................................................................................................................ 29 8.2 Placing Charging Base ........................................................................................ 29 8.3 Power ON/OFF ..................................................................................................... 30 8.4 Charging ............................................................................................................... 30 8.5 Emergency stop & brake and reset...................................................................31 8.6 Map Building and Upload .................................................................................. 31
2 Copyright 2016-2021 Shanghai Slamtec Co., Ltd.

8.7 Host Computer Completes Startup and Loading The Map ........................... 34 9. CONNECTION TO COMPUTER ............................................................................. 36 9.1 Wired Connection ................................................................................................ 36 9.2 Wireless Connection............................................................................................41 10. ADJUSTING TOOLS..............................................................................................45 10.1 RoboStudio......................................................................................................... 45 10.2 Web Management Backstage .......................................................................... 45 11. DEVELOPER TOOLS .............................................................................................. 46 11.1 Start Using .......................................................................................................... 46 11.2 Inter-system Adjusting Framework ................................................................ 46 11.3 Instructions of Each System ............................................................................. 46 11.4 Demonstrations of Code .................................................................................. 48 11.5 Details Of Robot API ......................................................................................... 50 12. INTRODUCTION AND USE OF ELEVATOR CONTROL......................................52 12.1 Introduction ....................................................................................................... 52 12.2 Features .............................................................................................................. 52 13. SPECIAL NOTE ...................................................................................................... 54 13.1 Charge point deployment ................................................................................ 54 13.2 Restricted usage scenarios...............................................................................54 13.3 Faults that cannot be handled temporarily ................................................... 55 13.4 Notes ................................................................................................................... 55 14. MAINTENANCE .................................................................................................... 57 15. COMMON FAULTS AND TROUBLESHOOTING ................................................ 58 16. PRODUCT EXECUTIVE STANDARDS AND CERTIFICATES ............................... 59 16.1 Product executive standards ........................................................................... 59 16.2 Certificate ........................................................................................................... 59
3 Copyright 2016-2021 Shanghai Slamtec Co., Ltd.

1. Introduction
Developed by Slamtec, Hermes is a scalable and low-cost robot platform capable of meeting the needs of small-to medium-sized robot application development in areas such as smart patrol robots, container transportation robots, hotel delivery robots, food delivery robots, and more.
Autonomous Localization and Navigation
The built-in SLAMCUBE autonomous localization and navigation system kit enables path-finding and localization and navigation features to help robots figure out where they are, where they should go, and the best way to get there. Hermes is capable of performing a variety of tasks across different commercial environments.
Multi-Sensor Data Fusion
Multi-sensor data fusion technology is an effective way to improve the sensing capability of robotic systems. Hermes uses multi-sensor data fusion technology to effectively realize high degrees of autonomy and awareness in unpredictable environments. Fitted with equipment such as lidar, magnetic sensors, depth cameras, and bumper sensors, Hermes can implement autonomous mapping, localization, and navigation by flexibly responding to complex and ever-changing operational environments.
4 Copyright 2016-2021 Shanghai Slamtec Co., Ltd.

2. Introduction to Hermes Features
2.1Autonomous Path-Finding
The built-in SLAMCUBE autonomous localization and navigation system kit enables path-finding and localization and navigation features to help robots figure out where they are, where they should go, and the best way to get there. Hermes is capable of performing a variety of tasks across different commercial environments. Hermes is capable of autonomous localization and path-finding in accordance with task target points, implementing autonomous movement.
2.2Robot Collaboration
Hermes supports multi-robot collaboration to meet the needs of multi-task operations in complex environments during peak periods. Hermes supports local area network (LAN) and cloud platform collaborative operations, along with the dynamic adjustment of both speed and delivery routes in accordance with the environment to realize efficient, safe, and reliable multi-point delivery.
2.3Cross-Floor Delivery
The Smart Elevator Control 3.0 system provides accurate detection of elevator statuses along with callcontrol functionality to provide efficient and reliable solutions that help hotel delivery robots autonomously navigate elevators in cross-floor scenarios. Through our API interfaces, Smart Elevator Control 3.0, as a relatively independent set of solutions, can also be integrated with other smart devices or third-party applications to meet the differentiated customization needs of customers.
2.4Smart Obstacle Avoidance
The multi-sensor fusion technology of Hermes provides rapid and accurate identification of surrounding active environments, enabling smart obstacle avoidance and greatly reducing the chances of safety incidents.
2.5Comprehensive Safety
Hermes uses multi-sensor fusion methods such as dual-depth magnetic sensors, bumper sensors, and lidar to accurately identify and avoid both moving and static obstacles. The robot also supports fall avoidance, collision avoidance, and emergency braking functionality to ensure comprehensive safety during the move process.
2.6Autonomous Recharging
Sufficient power is ensured for Hermes to complete assigned tasks smoothly. Hermes automatically returns to the charging station when its battery charge falls below a configured threshold or when its tasks are completed.
5 Copyright 2016-2021 Shanghai Slamtec Co., Ltd.

3. Hermes Schematic Diagram
Obstacle Avoidance Camera Code Scanning Camera Bumper Magnetic Cliff Sensor
IPC

Automatic Charging Electrode

Indicator Light

4. Hermes Charging Stand

Charging Electrode Magnetic
Communication
Self-Resetting Fuse Power Connector

Firmware Upgrade Port

5. Parameters

Name Core Features
Item
Mass and Volume

Lidar Sensor

Sensor
Performance Parameters

Depth Camera Sensor
Boundary Sensor

Bumper Sensor

Mapping Performance

Motion Parameters

User Port

Hardware Port

Hermes

SLAM Localization and Navigation

Index

Value

Length x Width

545 x 465 mm

Height

272 mm (excludes controller)

Weight

40 kg (excludes controller)

Max Load

60 kg

Max Scan Radius
(90% Surface Reflective Rate)

25 m, 360° (standard) 30 m, 360° (optional)

Quantity

2 units

Detection Range

0.2m-10m

Field of View (FOV)

Single H: 87° V: 58° Double H: 168° V: 58°

Quantity

2 units

Max Detection Range

3.5cm

Quantity

2 units

Trigger Method

Physical Collision

Map Resolution

5 cm

Max Mapping Area

500m x 500m

Max Move Speed

1.2m/s
Can be customized1.5 m/s

Max Cross Slope

16°

Passing Obstacle Height

2 cm

Passing Obstacle Width

4 cm

Ethernet

1x RJ45 Gigabit Ethernet Port

Power Connector

DC 24V 9.5A DC12V 2A

Software API Battery and Capacity
Power Consumption
Wheelset Noise
Operating Environment

Wi-Fi

2.4 GHz

1x 4G

SIM card slot

1 unit

HDMI

1x HDMI

Audio

1x 3.5mm Headset Socket
1x LINE_MIC Audio Jack (Co-lay with headset socket)
1x Dual-Channel 5w/8 Amplifier Jack

Type-C

Standard USB 3.0 Type-C Port

SLAMWARETM

Capacity Specifications

16 Ah (Standard) 25 Ah (Optional)

No-Load Operating Time

9.5h (16Ah) 15h (25Ah)

Charging Time

3h-4h

Battery Life

800 charges

Standby power consumption

32W (16Ah, No-load)

Motion power consumption

39WNo-load

Full load power consumption

32WStandby 62WMotion

Maximum access power consumption

200W

Rated output

DC25.5V 2A

Wheelset Parameters

6.5-inch In-Wheel Motor

Working noise

50dB

Operating Temperature

0°C to +40°C

Transportation and storage conditions

-25 to +55

Operating Humidity

30 to 70%rh (no condensation)

Name Size Color Rated input Rated output Rated input frequency

Height above sea level

2000m

Charging point Parameters
360mm*150mm*320mm White
100-240V 50/60Hz 3A MAX DC 25.5V 6A 50/60Hz

6. Instructions Of Hardware

6.1 Wire Instructions

Interfaces

Picture

Power ON/OFF

Shut Down

Brake

Index ----

Function

Note

Power switch of the

entire system. Short

press until the

indicator light turns on power-on, long

press until the

indicator light turns

off power-off.

Effectively control Hermes in an emergency. After pressing, Hermes will immediately shut down.

It is a switch that must be designed according to rigid regulations. If the switch is not designed, Hermes will refuse to run.

When robot is energized, press this switch to release the brake and you can push the robot freely; press it once again to brake, and the robot will not be able to push it freely.

Invalid if the robot is not turned on

24V Power

Rated Voltage 24V
Maximum current 20A

Maximum output power is 480W, can be used to supply power to external devices

No overload

12V RK3399 Power Supply Wire

Rated Voltage 12V
Maximum Current 20A

Cube2 supplies power to the RK3399 development board.

Depth Camera Interface
Docking Camera
12V -DISP

USB3.0

Connected to the RK3399 development via USB3.0 to obtain information.

Need to pay attention to the left and right sequence.

USB2.0

Connected to the RK3399 development via USB3.0 to obtain information of code scanning camera.

Assist precise docking.

Rated Voltage 12V working power

12V

of Cube2 to provide

the external display

(See the figure screen of human-

below for the computer

design drawings) interaction.

Maximum current 2A

USB-Type-C

USB3.0

Design drawing of 12V -DISP terminal

Used for communication between 3399 and Cube2.

Connect to Hub3.0

6.2 Important Interfaces of Developing Board on RK3399
Chassis to be tested
User Signal Port

4G MODULE (ANTENNA INCLUDED)

SIM Card

WIFI Antenna

USB Port

USB Warning Light

Test Screen

User Button
6.3 Reference of Hardware Design
Notice: (1) Before starting, please read the manual carefully to avoid product damage caused by misoperation; (2)The working temperature of the main board is 0 to +40, 30%-70%RH, in order not to damage the product due to excessive cold/heat or moisture
14 Copyright 2016-2021 Shanghai Slamtec Co., Ltd.

(3) Do not make strong mechanical movement of this product, and operate this product before static protection is done;
(4) Please turn off the power before installing any external cards or modules; (5) Please ensure the external power supply is DC 12V to avoid damage to the main board;
6.3.1 Product Description RK3399 Android system main board adopts Rockchip RK3399 main control solution. The specification
of the main board is a standard 3.5-inch structure with a size of 146*102mm. The main board processing core RK3399 is based on the dual Cortex-A72+four Cortex-A53 core CPU
structure. It uses the powerful Mali-T864 GPU graphics display core, supports VP9, H.265/H264 hardware decoding, and 4K ultra high-definition output.
Onboard 4GB DDR3 memory and 32GB storage. The display interfaces are: 1*HDMI, 1*eDP/LVDS, supporting dual-screen display, which can meet the needs of flexible and diverse point-screen applications. The board has a 3.5mm headset socket and a dual-channel 5W power amplifier speaker interface, which can meet the needs of audio applications. The main board integrates a gigabit network port, and also integrates a WIFI/Bluetooth module to support various network access methods. The onboard Mini-PCIe expansion slot supports 4G network card module expansion. The main board has 5 USB ports and 1 Type-C slot, 2 serial slots, and 1 set of 8 GPIO pins. In addition, the main board has a rich function expansion pin interface. The main board uses a single 12V DC adapter for power supply. Characteristics of Main Board Based on Rockchip RK3399 ARM processor solution; Display interfaces: LVDS, eDP and HDMI; Hardware decoding H.265 high-definition video, support 4K ultra high-definition output; Rich functions, onboard 5*USB/2*COM/8*GPIO/1*IR infrared;
15 Copyright 2016-2021 Shanghai Slamtec Co., Ltd.

6-1 RK3399 Main board basic application diagram
6.3.2 Product specifications 1Hardware Specification Sheet

Processor RAM Display
Internet Audio Storage COM
Others

Rockchip RK3399
4GB DDR3
1*eDP 1*LVDS output revolution maximum supports 4096x2160 1*HDMI output supports 480p/480i/576p/576i/720p/1080p/1080i/4k 1*RJ45 Gigabit Ethernet 1*WIFI+Bluetooth 1*3.5mm headset socket
1*LINE_MIC audio pinwith headset socket Co-lay 1*Dual-channel 5w/8 power amplifier speaker pin 32GB eMMC 2* serial port
4*USB2.01*USB3.01*USB3.0 Type-C OTG
1* standard Mini-PCIE slotfor 4G module 1*TF card extension 8 GPIO pin 1*IR infrared extension pin 1*I2C touch screen extension pin
16 Copyright 2016-2021 Shanghai Slamtec Co., Ltd.

2 A/D conversion pin 2*MIPI-CSI2 camera expansion port 1*G-Sensor gravity sensor

Power connector Main board specifications
Operating system
Working environment

DC2.5*5.5 socket/PH2.0-4pin12V DC input
146*102*22mm green Android 7.1 Temperature0~+40 Humidity 30~70%RH

Remark RK3399 is dual-core Cortex-A72 (the highest frequency is 1.8GHz) + 4-core Cortex-A53 (the highest frequency is 1.4GHz); The eDP interface and the LVDS interface share the backlight and control signals, and cannot be connected to the screen at the same time, only one of the two can be selected; WIFI specifications802.1b/n/g @ 2.4GHz; Bluetooth specificationsBluetooth 4.0 COM1 is the Debug interface and supports TTL/RS232, COM2 can communicate with the onboard MCU, and can also be used as an external RS232/RS485 interface; TF card supports maximum expansion to 128GB.

2Size of main board

Unit: mm

6.3.3 Introduction of Interfaces 1Front view of main board
2Front IO diagram of the main board 3IO diagram behind the main board 4Back view of main board
18 Copyright 2016-2021 Shanghai Slamtec Co., Ltd.

CautionThe identification method of the first pin on the main board is: 1 has a white and bold silkscreen; 2 the pins seen on the back of the main board are square holes. 6.3.4 Definition of pin function
1Pin Interface Distribution
19 Copyright 2016-2021 Shanghai Slamtec Co., Ltd.

2Description of silkscreens

Silkscreen DC_IN PWRIN
LINE_MIC UBOOT1
SPK1
HP_MIC HDMI TYPEC USB1 USB2 USB3 RJ45 SIM
SD JCOM1 TTL_DBUG
JCOM2 DEBUG
JC2 JC3 JC4 JC5 JIR ANT BAT JLV1
CAM_FLASH F-KEY
MINI-PCIE CMR_MIPI0 CMR_MIPI1
WLED1 JUSB1 JUSB2 JUSB3
S-KEY PWRLED
JEDP AD I2C IVCN LVDS GP

Description +12V DC input interface (2.5mm base) PH2.0-4PIN power input terminal PH2.0-5P LINE-OUT&MIC-IN audio extension socket Uboot flash mode button[1]
4-PIN PH2.0 amplifier speaker pin5W/8 3.5mm headset socket Standard HDMI HD digital display interface Standard USB3.0 Type-C interface[2] Standard USB3.0 Type-A single layer interface Standard USB2.0 Type-A single layer interface Standard USB3.0 Type-A single layer interface Gigabit RJ45 network interface SIM card slot TF expanded card slot PH2.0-4PIN COM1 RS232 mode pin
PH2.0-4PIN COM1 TTL battery mode pinDEBUG serial port 4PIN-PH2.0 RS232/485 serial port 2 sockets PH2.0-4PIN onboard MCU module debugging interface COM1 RS232/TTL mode setting jumper [3] COM1 RS232/TTL mode setting jumper [3] COM2 internal onboard MCU/external JCOM2 setting jumper [4] COM2 internal onboard MCU/external JCOM2 setting jumper [4] DuPont 2.0-3pin infrared receiver extension pin WIFI/Bluetooth IPEX antenna interface RTC clock 3.3V battery plug
LVDS/eDP screen voltage3.3/5/+12Vjumper selection Camera flashlight interface Function key pin [5] Mini-PCIe module slot MIPI-CSI2 camera interface 1 MIPI-CSI2 camera interface 2 mini-PCIe expansion module signal light 4PIN-PH2.0 USB2.0 extension pin 1 4PIN-PH2.0 USB2.0 extension pin 2
4PIN-PH2.0 USB2.0 extension pin 3(and USB1 Co-lay 4PIN-PH2.0 system power on/off, reset pin Power indicator pin [6] eDP HD digital display interface [7] 2 way A/D conversion pin I2C pin LVDS/eDP backlight inverter control interface Dual channel 24-bit LVDS interface 10PIN-5.08mm 8 reserved programmable control input and output plug-in terminals

SYS_FAN

System cooling fan power supply pin

Remark

[1] After the main board is powered on, press and hold the Uboot button to enter Uboot mode to upgrade the system;

[2] Type-C interface only supports Slave mode, connect to computer for firmware upgrade; [3] JC2 and JC3 jointly determine the COM1 signal connection:

Mode JC2&JC3

RS232JCOM3 pin 1-2P short interface

TTLTTL_DEBUG pin 2-3 short interface

[4] JC4 and JC5 jointly determine the COM2 signal connection:

Mode JC4&JC5

RS232JCOM2 pin 1-2P short interface

MCU485A base 2-3 short interface

[5] The extension pin contains function key signals such as volume up, volume down, home, back, and OEM customization;

[6] Preset power indicates two-color lamp extension pin; [7] The JEDP interface and the LVDS interface share the backlight control pins IVCN and JLV.

3Definition of Interface pin and jumper selection

JP/CN

pin#

Signal

pin#

MIC_IN+

MIC_IN-

LINE_MIC

GND

LINEOUT_R

LINEOUT_L

JP/CN

pin#

Signal

pin#

SPK_L-

SPK

SPK_L+

SPK_R-

SPK_R+

JP/CN

pin#

Signal

pin#

12V

PWR_IN

12V

GND

JP/CN

pin#

Signal

pin#

GND

SYS_FAN

2 3

+5V FAN_INT

JP/CN

pin#

Signal

pin#

Signal Signal Signal Signal Signal

Remark Remark Remark Remark Remark

JIR JP/CN S-KEY JP/CN F-KEY JP/CN PWRLED

+5V

GND

pin#

Signal

pin#

PWR_ON

GND

RSET

GND

pin#

Signal

pin#

VOL+

VOL-

HOME_KEY 6

BACK_KEY

OEM_KEY 10

pin#

Signal

pin#

+3.3V

GND

LED_A

LED_B

Main board and jumper definition (continued 1)

JP/CN JCOM1 JP/CN JCOM2 JP/CN
GP JP/CN
I2C JP/CN

pin#

Signal

pin#

RS232_TX

RS232_RX

GND

+5V

pin#

Signal

pin#

RS232_TX/48 5+

RS232_RX/48 5-

GND

+5V

pin#

Signal

pin#

5VNC

GPIO1

GPIO3

GPIO5

GPIO7

GND

pin#

Signal

pin#

+3.3V

GND

TP_SDA

TP_SCL

TP_INT

TP_RSET

pin#

Signal

pin#

Signal

Remark

Signal GND GND GND GND GND Signal

Remark
co-lay 1st PIN and upgrade button colay
Remark

Signal

Remark

Signal

Remark

Signal
GPIO2 GPIO4 GPIO6 GPIO8 GND Signal

Remark Remark

Signal

Remark

+5V

JUSB1 JUSB2 JUSB3

2 3

DTDT+

GND

Main board and jumper definition (continued 2)

JP/CN IVCN JP/CN
LVDS
JP/CN JLV1

pin#

Signal

pin#

+12V

BKLT_ON

4 BKLT_PWM

GND

pin#

Signal

pin#

VCC

GND

TXA0-

TXA1-

TXA2-

GND

TXA_CLK- 16

TXA3-

TXB0-

TXB1-

TXB2-

GND

TXB_CLK- 28

TXB3-

pin#

Signal

pin#

+3.3V

+5V

+12V

JP/CN JEDP

pin#

Signal

pin#

VCC

HPD

EDP_AUX+ 6

GND

EDP_TX0+ 10

EDP_TX0- 12

GND

EDP_TX2+ 16

EDP_TX2

GND

Signal

Remark

Signal VCC

Remark

GND TXA0+ TXA1+ TXA2+ GND TXA_CLK+ TXA3+ TXB0+ TXB1+ TXB2+ GND TXB_CLK+ TXB3+ Signal LVDS_PV LVDS_PV
LVDS_PV
Signal VCC GND EDP_AUXGND EDP_TX1+ EDP_TX1GND EDP_TX3+ EDP_TX3GND

Remark 1-2choose+3.3V 3-4choose+5V 5-6choose+12V
Remark

Main board and jumper definition (continued 3)
23

JP/CN

pin#

Signal

pin#

+3.3V

2 3

GND AD1

AD2

JP/CN

pin#

Signal

pin#

WLED

+3.3V

WLAN_LED-

JP/CN

pin#

Signal

pin#

+12V

CAM_FLASH

2 3

GND Flash_ON

4 FLASH_PWM

JP/CN

pin#

Signal

pin#

AGND

+2.8V

+1.8V

+1.5V

GND

CMR_CLK

GND

8 MIPI_RX_CLK+

9 MIPI_RX_CLK-

GND

11 MIPI_RX_D2+

CMR_MIPI0 12 MIPI_RX_D2-

CMR_MIPI1 13

+2.8V

MIPI_RST0

CIF_PDN1

16 I2C_SDA_CAM

17 I2C_SCL_CAM

GND

19 MIPI_RX_D3+

20 MIPI_RX_D3-

21 MIPI_RX_D0+

22 MIPI_RX_D0-

23 MIPI_RX_1+

24 MIPI_RX_D1-

Signal Signal Signal Signal

Remark Remark Remark Remark

7. Reference of Structure Design
7.1 Installing Interface of Host Computer
As shown in the figure above, there are a total of 11 M3 threaded holes for the installation and fixation of the host computer.
It is recommended to use M3 screws with spring washer and blue anti-loosening glue.
7.2 Instruction of Load Limit
25 Copyright 2016-2021 Shanghai Slamtec Co., Ltd.

(1) Maximum load of host computer is 60 kg. (2) * It is recommended that the center of gravity of the whole machine is not higher than 300mm from the ground during installation.
i. *The center of gravity of chassis is the one which Slamtec provides, the height is 103 mm; ii. The center of gravity of the whole machine is the overall center of gravity of the chassis plus the robot; iii. If the center of gravity of the whole machine exceeds 300mm, the slope-climbing and obstaclecrossing performance may be reduced.
7.3 Radar Clearance Area
26 Copyright 2016-2021 Shanghai Slamtec Co., Ltd.

There is a radar between the chassis body and the host computer, which requires a certain clearance area to avoid being shielded or interfered;
The boundary of the host computer cannot exceed the lower boundary line of the host computer as shown in the figure.
7.4 Deep Camera Clearance Area
There is a deep camera on the chassis, which requires a certain clearance area to avoid being shielded or interfered;
The host computer cannot exceed the clearance area as shown in the figure. Due to the angled layout of the dual cameras, the superimposed clearance area is larger than a single FOV.
7.5 Instruction of Transport Design
27 Copyright 2016-2021 Shanghai Slamtec Co., Ltd.

(1) There are three angle aluminums on the left, right and back under the installation board of the host computer, which are used for strengthening support and transporting.
(2) It is recommended to reserve a hand-holding space in the host computer to facilitate transporting.
28 Copyright 2016-2021 Shanghai Slamtec Co., Ltd.

8.1 Opening

8. Setup Instructions

1. After receiving the Hermes machine, please check whether the packing box is intact as shown in the left picture, and whether the box on the right side of the Hermes sample of the outer box is checked. After confirming that the packing is complete and the box contains Hermes, use packing pliers to cut the packing tape, remove all packing straps and paper corners, it should be shown as on the right picture.

8-1 Hermes unpacking
2.Remove the document bag on the top of the box. The document bag contains Hermes-related paper materials, such as Product manual, please keep it properly.

8.2 Placing Charging Base

8-2 Hermes document bag

Hermes can be charged by returning to the charging base automatically, so the position of the charging base will affect the automatic return charging function of Hermes. When Hermes returns to the charging station, it will generate propelling force. Therefore, it is best to place the charging stand with its back against the wall. The wall must meet the following conditions:
29 Copyright 2016-2021 Shanghai Slamtec Co., Ltd.

a. The charging base must be attached to the wall, without no obstacle in the middle, try to avoid the wall with skirting, etc.
b. The wall material cannot be high-permeability materials, such as mirror or glass c. The wall width needs to be at least three times wider than the width of the charging stand d. The wall must be a straight wall, not a curved wall The charging base needs to be connected to a 220V power supply. The length of the external power cord of the charging base is 1.5m. Therefore, it is necessary to ensure that there is a 220 V interface within 1.5m of the wall against which the charging base rests. The ground wiring harness is messy causing unnecessary trouble). The ground in front of the charging base must meet the following conditions: a. Open, with no obstacles within a radius of 2m in front of the charging stand as the center of the circle b. Plane, no slope c. The ground cannot be covered with soft carpet that causes Hermes to sink more than 2cm To ensure that Hermes automatically returns to the charging function, it is necessary to ensure that Hermes always starts from the charging base. Note: If you want to change the position of the charging stand, you need to set the corresponding setting according to the position you need when loading the map. For detailed operations, please see the SDK corresponding interface operation document.
8.3 Power ON/OFF
Power on: if the machine is not in the position of charging pile, long press the power switch until the power switch indicator lights up and release it. The machine system enters the startup process, the front light strip lights up, and the wheel hub is in the brake state, indicating that the startup is completed.
If the machine is in the position of charging pile, short press the power switch until the power switch indicator lights up and then release it. The machine system enters the startup process, the front light strip lights up, and the wheel hub is in the brake state, indicating that the startup is completed.
Power off: long press the power switch until indicator light goes out, then release it, the machine enters the shutdown process, the light strip on the front of the machine goes out, and the machine can be pushed arbitrarily, indicating that the shutdown is completed.
8.4 Charging
As shown in the figure below, align the charging piece of the machine with the charging electrode of the charging pile. After waiting for 10 seconds, the front light strip of the robot lights up, the wheel hub enters the braking state, and the breathing light of the charging pile flashes, indicating that charging has started.
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Charging electrode
Charging board
8-3 Hermes charging
8.5 Emergency stop & brake and reset
1Emergency stop button Press the emergency stop button, the Hermes machine will stop immediately, stop and no longer respond to any motion control commands, and the manual push is blocked. Release the "emergency stop button " and the machine can return to normal working conditions. (2) Brake button Press the "brake button", the Hermes machine will stop immediately, stop and no longer respond to any motion control commands. The machine can be pushed manually, such as pushing it to the charging pile. Release the "brake button", the machine can return to normal working condition, and the manual push is blocked.
8.6 Map Building and Upload
Download and install the robot graphical control management tool Robot Studio from our official website http://www.slamtec.com/cn/RoboStudio to adjust and use Hermes, sign up account and log in. In the menu-toolbar area, click "File-Robot" in turn, and a docking page named Robot will appear on the left side of the workspace, as shown in the figure below. The user connects/disconnects the robot through this page.
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8-4 Rob Studio Robot page
Right-click the blank space of the robot list, click "Manually connect robots" in the pop-up menu, and the connect robot dialog box will pop up (as shown below). Enter the IP address and port number of the Hermes robot above and click the connect button to connect (This connection method is suitable for machines that have been assigned an IP address through the Web portal management backstage). When the computer has been connected to the SSID of the aforementioned Hermes robot through a network adapter (SSID can be viewed on the label of the machine), enter the IP address 192.168.11.1 by default (note that your wireless network adapter IP address should be set to automatically obtain it using DHCP).
IP Address PORT
8-5 Rob Studio Robot connecting page
When finishing connecting, the work area will display the robot, map information, and status information. In the robot page, you will find that the name of the connected device turns green, and the status is "Connected", as shown in the figure below.
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8-6 Rob Studio Robot connecting page
Left click the spot inside the map-building area, let Hermes build the map. When finishing, please use the virtual wall function to isolate the places that need to be isolated. Then click "File-Map Editor" in turn, choose to save the file or upload to the firmware to save the map.
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8-7 Rob Studio Robot map-editing page
8.7 Host Computer Completes Startup and Loading The Map

Below is a reference example of how to use the SDK to complete the startup and loading of a specific map on the host computer.

1. /* 2. * upload map file to Hermes 3. */
4. #include <iostream>

5. #include <rpos\robot_platforms\slamware_core_platform.h> 6. #include <rpos\robot_platforms\objects\composite_map_reader.h>

7. #include <rpos\core\pose.h> 8.

9. using namespace std; 10.

11. int main() 12. { 13. try

14. {

15.

string map_path = ".\\map.stcm"; //the path of map

16.

string Hermes_ip = "192.168.11.1"; //the ip of Hermes

17.

int Hermes_port = 1445; //the port of Hermes ,default is 1445

18.

19.

rpos::robot_platforms::SlamwareCorePlatform Hermes =

20.

rpos::robot_platforms::SlamwareCorePlatform::connect(Hermes_ip, Hermes_port);

21.

//connect to the Hermes

22.

rpos::robot_platforms::objects::CompositeMapReader cmapreader;

23.

//map reader

24.

rpos::core::Pose Hermes_pose = rpos::core::Pose(rpos::core::Location(0, 0, 0));

25.

//the Hermes pose in map(Hermes_pose should be the Hermes's real pose in new map)

26.

//using Hermes.getpose() to get the old Hermes pose

27.

auto map = cmapreader.loadFile(map_path);

28.

//load map

29.

Hermes.setCompositeMap(*map, Hermes_pose);

30.

//set compositemap

31.

rpos::core::Pose home_pose = rpos::core::Pose(rpos::core::Location(0, 0, 0));

32.

//the home pose in map(home_pose should be the home's real pose in new map)

33.

//using Hermes.gethomepose() to get the old home pose

34.

Hermes.setHomePose(home_pose);

35.

//set home pose

36. }

37. catch (rpos::robot_platforms::ConnectionFailException &e)

38. {

39.

cout << "connect failed on " << e.what() << endl;

40. }

41. catch (rpos::system::detail::ExceptionBase &e)

42. {

43.

cout << "failed on " << e.what() << endl;

44. }

45.

46. return 0;

47. }

Further motion deployment details, please see the SDK instruction document

9. Connection to Computer
9.1 Wired Connection
Based on the actual development and application needs, the RJ45 universal network port is designed on the expansion interface layer of Hermes, which can be directly connected to the PC through the network cable to facilitate users to expand or develop robots.
[Step 1] Start the Hermes machine and connect the Type-C interface of the Hermes machine to the computer using type-C cable.
[Step 2] Download a "SCRCPY" software and start it, then enter it's display interface of Android system.
9-1 Hermes display page
[Step 3] In the Android interface, select "", select of ", go to Ethernet, and then click Ethernet IP Mode.
[Step 4] Change the default "DHCP" to "static", fill in the default value, and click Save.
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9-2 Ethernet interface
[Step 5] Connect the computer to the Hermes machine with a network cable to access the computer network. When the Ethernet page is displayed, click Change Configurator Options.
9-3 Computer Ethernet interface
[Step 6] Right-click "Ethernet", go to "Properties", and click "Internet Protocol Version 4 (TCP/IPv4)". [Step 7] Manually change the IP address, for example, to 192.168.1.66. The default official website is changed to 192.168.1.1.
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9-4 Internet Protocol Version 4 (TCP/IPv4)
[Step 8] Click "OK" to save. 5-10s later, the desktop will pop up as shown in the picture below. Click "OK".
9-5 The page after the network is saved
[Step 9] Check the IP address in Step 4.
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[Step 10] After logging in to RS, click the "Robot" option and manually connect the robot with the right mouse button.
9-6 Robo studio login screen
[Step 11] Ip Address Enter the Ip address set in Step [4] and click "Connect". The RS login succeeds.
9-7 Robo studio interface
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9.2 Wireless Connection
Plug in the charging pile and align Hermes with the charging pile. [Step 1] Download the software "Slamtec RoboStudio" from the official website of Slamtec. Download Reference Link http://www.slamtec.com/cn/Support [Step 2] Start the Hermes machine and use type-C cable to connect the Type-C interface of the Hermes machine to your computer. (Figure 9-8)
9-8 Interface diagram of Hermes Type-C
[Step 3] Download a software called "SCRCPY" from the computer, start it (Figure 9-2), and enter the screen of Android system (Figure 9-9).
9-9 scrcpy.exe interface
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9-10 Android interface of the Hermes machine
[Step 4] On the Android interface, select "Settings", then select "More" in Wireless and Networking, and then select Network Sharing and Portable Hotspot to enable portable WIFI Hotspot.
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9-11 Android network Settings screen for a Hermes device
[Step 5] If the portable WIFI hotspot is "Hermes Show", connect the network of your computer to "Hermes Show" at the same time, so as to ensure that your computer and Hermes machine are in the same network. Type-c can then be pulled out of the computer and Hermes machine.
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9-12 Portable WIFI hotspot interface (left) and computer network interface (right)
[Step 6] Run "roboStudio. Exe" to enter the Slamtec RoboStudio interface and enter the IP address and port.
9-13 Robostudio.exe interface
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10.1 RoboStudio

10. Adjusting Tools

RoboStudio graphical tools are used to adjust and use Hermes, please download and install it from our official website: http://www.slamtec.com/cn/RoboStudio and coming with manual to introduce those features.
10.2 Web Management Backstage

In the process of developing, adjusting and using SLAMWARE equipment, various operations can be performed on the equipment through the web management backstage, such as viewing basic information, updating the version, configuring WiFi,etc. (Default username: admin, default password: admin111)
Currently, web management backstage supports following functions: 1. Check basic information of the device 2. Restart the module 3. Update the firmware Slamtec will regularly provide Hermes firmware updates and upgrades. You can easily upgrade the firmware for Hermes through the management backstage. Please obtain the latest firmware from sales or technical support personnel. The update process will last 5-10 minutes. The buzzer of Hermes will continue to sound during the update, and Hermes will automatically restart after the update. Before that, please make sure that Hermes has sufficient power. 4. Configuring WIFI 5. Start the SLAMWARE Core diagnostic mode 6. Modify the administrator password More details on usages please refer to
https://wiki.slamtec.com/display/SD/SQ001+SLAMWARE+Web+Portal+Function+Overview

11. Developer Tools
11.1 Start Using
The Agent SDK of the Hermes chassis is developed based on the C++ language to reduce user access costs and improve the robustness of the SDK. At the same time, it has strong compatibility and supports multiple languages such as Java, C++, C, and Kotlin. The following is a detailed introduction to the relevant examples and usage guidelines of the Agent SDK call based on the Hermes chassis.
11.2 Inter-system Adjusting Framework
Robot App controls the robot's positioning, movement, and return to piles through communication; at the same time, Robot App sends instructions to the robot according to various business scenarios, and Robot Agent will provide data interfaces, task operation interfaces, and business services to Robot App.

11-1 COMMUNICATION BETWEEN EACH SYSTEM OF HERMES
11.3 Instructions of Each System
11.3.1 Robot Agent

Robot Agent is a service program running on the Hermes chassis, through which the cloud and the elevator control terminal communicate with the elevator control equipment. Inside the Robot system, the Robot Agent communicates with the Robot App, receives instructions from the Robot App to control the Robot, and sends the Robot status at the same time.

The core function of Robot Agent is

Communicate with the Robot Cloud, Robot APP, send the Robot status and receive instructions

11.3.2 Elevator Agent

Elevator Agent is a service program running on the Linux system of the elevator control main control box. The cloud and the robot end communicate with the elevator control equipment through it. Inside the elevator control system, the Elevator Agent communicates with the Elevator Controller through UDP, sending elevator control instructions and obtaining elevator status.
The core function of Elevator Agent is Communicate with the Robot Cloud, Robot APP, send the elevator status and receive instructions
of elevator control Communicate with the Elevator Controller, receive the elevator status and send instructions of
elevator control 11.3.3 Robot Cloud
Robot Cloud is a set of services provided to realize remote management, scheduling, and control of robots. It runs in the cloud and communicates with the robot at one end and the elevator control equipment at the other end. Therefore, elevator control is part of the function. Robot Cloud communicates with the Elevator Agent running on the main control box of the elevator control through the MQTT protocol.
Its core functions include: Send instructions, control the elevator to the designated floor Send instructions, control the elevator to open the door Send instructions, control the elevator to close the door Receive the up/down status of elevator Receive the current floor of the elevator 11.3.4 Robot App
Open-Source application Restaurant Delivery App The restaurant delivery app is a service program running on the robot. The application scene is a restaurant. It draws a map and loads it to the robot's local area through RoboStudio graphical tools. It is a universal application for human-computer interaction to achieve multi-point task delivery.
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DEPLOYMENT 1. Personnel sketching map and load to the Robot

DELIVERY PROCESS

2. Restaurant waiter sets menu into the Robot

3. Waiter enters designated table number

4. Robot send items to the destination

Your order is here, please pick up one plate

Delivery mission completed, please praise me!

5. Robot informing customer "Here's 6. Robot returning to picking up your order!" when reaching destination point and wait for another order
11-2 RESTAURANT DELIVERY BUSINESS FLOWCHART

Its core functions include Get device battery percentage Get health status info of the device Get POI info Get password of the action Create new action Get current action Stop current action Shut down of restart Robot
11.4 Demonstrations of Code

1. The following is an example of the Robot APP calling the Robot Agent interface to check the battery status
GET http://127.0.0.1:1448/api/core/system/v1/power/status The format of the returned data is application/json
2. The following is the Robot App calling the Robot Agent interface to make the robot move across floors POST http://127.0.0.1:1448/api/core/motion/v1/actions The request message format is application/json
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11.5 Details Of Robot API
FUNCTION OF MODULES Locate, map building-related functions
Mark map elements manually
Motion control of the Robot Firmware Upgrade Android application management

API LIST Get the Robot location Set the Robot location Get quality of location Whether support locating Start/Close locating Whether start map building Start/ pause map building
Get location of power station Set location of power station Get current map Delete current map Get all virtual line segment Add virtual line segment Adjust virtual line segment Delete virtual line segment Delete virtual line segment Get all POI in current map Add POI Empty POI Find POI according to ID Modify POI Delete POI Get all supported actions Get current action Stop current action Create new action Check action status Get firmware upgrade process
Get all custom installed apps Install APP
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Uninstall an APP

Multi-floor map and POI management, taking

Move across floors

elevator, etc.

Go back across floors Get all floor info

Get floor info of floor of the robot

Setup info of floor of the robot

Get POI info

Upload map to the robot

Long-lasting save the map

Reload the map

Delivery service-related interfaces

Get password of the action

Set password of the action

Get configuration info of the device

Get setup info related to the delivery

Check task info

Create task

Cancel all task

Cancel some task

Get current mission status

Stop/ continue current mission

Start picking up items

End picking up items

Get info of objects

NOTE: delivery business please inform

marketing department

Restaurant delivery service-related interfaces

Get the current battery percentage

Get the health info of the device

Get POI info

Get password of the action

Make up new actions

Get current action

Terminate current action

Shut down or restart the robot

MORE DETAILS OF API: https://github.com/slamtec/HermesSampleApp

12. Introduction And Use Of Elevator Control
12.1 Introduction
12-1 INTELLIGENT ELEVATOR CONTROL DEVELOPED BY SLAMTEC
Intelligent elevator control, independently developed by Shanghai SLAMTEC CO., Ltd, can provide accurate detection of elevator status, program control call elevators, control elevators, combined with Mercury hotel robots, helping the robots to take and exit the elevators autonomously. Providing reliable solutions to multi-floor operation scenarios. In addition to working with hotel robots, the product can be used as an independent set of solutions. Through the API interface we provide, this product can also interact with other smart devices or products to meet the different customization needs of customers. At the same time, the product can also be seamlessly connected to the Hermes chassis, to provide technical service support for more specific needs in other scenarios.
12.2 Features
12.2.1 Intelligence Elevator Control The core function of this product is to help robots and other intelligent devices to control the elevator,
such as calling the elevator, going to the designated floor, and controlling the elevator to open and close the door. This function greatly improves the business scenario of robots and breaks the previous limitation that robots can only work on the same floor. 12.2.2 Intelligence Status Detection
Through the built-in sensor and adaptive algorithm, this product can accurately detect the current floor, up and down status of the elevator, real-time to the millisecond level, with an accuracy of more than 96%, providing a very critical foundation so that the robot can enter and exit the elevator correctly and complete the work.
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12.2.3 Elevator Diversity Adaption
The main control box has developed a variety of optimized filtering algorithms, so that this product is suitable for many different types of elevators, such as single-door elevators, double-door elevators, front and rear door elevators, etc. As it covers as many scenes as possible, this product can be used in most elevators at present. Users only need to simply calibrate and adjust through the APP provided after installing the equipment. 12.2.4 Multi-Level Network Adaption
Considering the limitations of the elevator network, how to ensure data interconnection and program interoperability is a very critical factor, and relatively it is also a difficult point. After continuous optimization iterations, we finally found a way to solve this problem. This product provides 4G, WIFI, BLE and other multilevel network communication methods to interact with robots and other smart devices to ensure the reliability of the communication link. 12.2.5 OTA Remote Upgrade
Support OTA remote upgrade of software and firmware, and batch deployment. At the same time, it provides support for VPN, which can remotely log in to the Linux system of this product for upgrades and other operations. Through the OTA function, real-time updates, upgrades and optimization can be done. 12.2.6 Interface Support
The intelligent elevator control provides a consistent API interface to the outside world, supports Bluetooth, MQTT, and HTTP communication protocols. Customers can control and interact with the elevator by writing their own program code. At the same time, it supports secondary development to meet the different customization needs of customers. 12.2.7 Swipe To Bypass
For some elevators that require a swipe card to ride, this product can also be easily supported. Just install the equipment we specify when installing the device, and then turn on the swipe card to bypass it in the APP. In this way, even if there is a card reader, it can be easily bypassed and freely enter and exit the elevator. 12.2.8 Unified Management
The cloud platform provided by SLAMTEC can perform real-time monitoring of the status of all deployed products, batch upgrades, and further data mining through online management, information statistics, equipment monitoring, etc., to provide exclusive accurate data models for hotels or commercial buildings, to guide them to improve their overall operational capabilities and service quality.
To know more about the detailed solution of elevator control, obtain it from the marketing department. Elevator control user manual->>
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13. Special Note
13.1 Charge point deployment
Precautions for the selection of charging pile location: (1) The charging pile should be placed on the wall with a space of more than 0.35 meters on both sides and more than 1 meter in front; (2) The charging pile shall be close to the wall, and shall not be placed in the mirror wall, back hollowed out and other areas, etc (3) The position of the charging pile must not be placed on soft ground such as carpet, otherwise it will cause height difference and cannot be charged; (4) The position of the charging pile in the scene needs to be marked to prevent incorrect recovery after moving.
13.2 Restricted usage scenarios
Please avoid using Hermes chassis in the following scenarios to avoid chassis failure or damage. (1) Overrun/heavy transportation Do not put in items that exceed the maximum weighing parameter value to avoid affecting the normal use of Hermes. Please refer to the information in the product parameter table for the maximum load-bearing parameter value. (2) Sill height
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Please ensure that there are no obstacles more than 20mm in front of Hermes, and the maximum height of Hermes over the sill is 20mm. During Hermes driving, please try to avoid passing through uneven ground or other environments with large height.
(3) Man -made impact Do not forcefully push or hit the Hermes body when Hermes is in normal use. (4) Temperature / humidity Do not place Hermes in places with high temperature, high humidity or water stains. (5) Ground obstacles Please ensure that the ground is clean and free of wireless obstacles and sundries. (6) Outdoor Do not use the machine outdoors. (7) It is limited to safe use below 2000m above sea level.
13.3 Faults that cannot be handled temporarily
When the machine encounters a fault that cannot be handled temporarily, you can try the following operations:
(1)Please press the brake button (2) Push the machine back to the charging pile; (3) The machine can be forced to switch on and off in any state after power- on. *Use only in emergency situations.
13.4 Notes
Notes for storage (1) Since the machine contains battery, it should be stored in a cool and dry environment; (2)For long-term storage (more than 3 months), it is recommended to put it in a dry environment with room temperature of 10-25 and no corrosive gas; (3) Hermes shall be charged every 6 months during long-term storage to ensure that the voltage of each battery unit is in the range of 3.6v-3.9v. Packing notes: (1)The packaging material must have a certain degree of strength and toughness, and can withstand slight vibration, extrusion, friction and collision during transportation; (2)There should be padding around the package, which can play a good cushioning role; Notes for transportation, loading and unloading:
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(1)Please handle with care to prevent falling, collision, dragging and inversion (2)Stacking needs to be built firmly, compactly, stably and neatly Other notes: (1)Do not treat Hermes violently (such as kicking, pushing, pulling); (2)Do not spill liquid on the machine; (3)Do not use the automatic recharge function on the soft carpet with a subsidence of more than 2cm; (4)It is recommended to start the equipment on the charging base; (5)Do not change the inside of the machine without authorization; (6)In environments with many high-transmittance materials, please use auxiliary protection functions, such as virtual walls.
56 Copyright 2016-2021 Shanghai Slamtec Co., Ltd.

14. Maintenance

1.General maintenance (1) Radar cleaning: When the machine is shut down and not working, check the surroundings of the radar to ensure that there are no obstructions.
(2) Universal wheel cleaning: When the machine is shut down and not working, gently lift the chassis, wipe the universal wheel with a soft dry cloth, and remove the surrounding foreign matters.
(3) Depth camera lens cleaning: Please wipe the lenses of the two depth cameras with a soft dry cloth when the machine is powered off.
(4) Cleaning the charging pile: Please wipe the charging pile and charging electrode with a soft dry cloth when the power is off.
(5) Collision bar cleaning: Please wipe the collision bar with a soft dry cloth when the power is off, and ensure that there are no wires, paper scraps and other foreign objects stuck on the anti-collision bar.
2. Maintenance cycle For the maintenance of the main engine, it mainly includes depth camera lens inspection, collision bar inspection, clearance inspection around the radar, foreign matter inspection around the driving wheel and universal wheel, charging pile inspection, etc. The time interval of the maintenance cycle can be appropriately adjusted according to the environment, frequency, intensity and temperature of the machine.

Hermes maintenance schedule

Time interval

NO Name

Maintenance level Year

Month

Week

Depth camera lens Clean

1 time

Collision bar

Clean

1 time

Around the radar

clearance

1 time

Universal wheel

Clean

1 time

Driving wheel

Clean

1 time

Charging pile

Clean

1 time

Machine body

Overhaul

1 time

14-1 Hermes maintenance schedule

15. Common faults and troubleshooting

When an abnormality occurs during Hermes operation, please refer to the following table or page tips to solve the problem:

NO Fault prompt

Solutions

Collision bar abnormal

Please check whether the collision bar is jammed, and tap the anti-collision bar several times to return the anti-collision bar to its position.

Hermes battery Please press the brake release button and push the machine back to the

low

charging point to charge.

The charging Please check whether the power cord plug of the charging point is inserted

3 point cannot be into the socket and whether the indicator light of the charging point is on

charged

normally.

Unable to power on

Please check whether the charging point is connected to the power supply. After the charging point and Hermes are connected normally, if it cannot be solved, please contact the after-sales service department.

Hermes cannot be charged on the pile

Please try again on the charging pile. If you cannot solve it, please contact after-sales service.

1. Please confirm whether the position of the charging point has been moved.

Unable to go If the position has been moved, please contact the after-sales department.

6 back to the

2. Please confirm whether there is a slope at the position of the charging point.

charging point If there is a slope, please contact the after-sales department.

3. Please push Hermes back to the charging point and try to restart Hermes.

Unable to get in 1. Please confirm whether there are obstacles in the elevator.

7 / out of the

2. Please confirm the internet signal near the elevator.

elevator

3. Please push Hermes back to the charging point and try to restart Hermes.

Universal

Please check whether there are any foreign objects such as threads, cards, etc.

8 wheels rotate around the universal wheels and the driving wheels. If there are foreign

intermittently objects, please clean them.

Machine can't Please check whether the drive cable is connected normally. If it cannot be

walk

solved, please contact the after-sales service.

The light strip does not light up

Please check whether the connecting wire of the light strip is connected normally. If it cannot be solved, please contact the after-sales service.

16. Product Executive Standards and certificates
16.1 Product executive standards
GB 4943.1 GB/T 15706 GB/T 16855.1 GB/T 37283 GB/T 37284 *Please do not use this product beyond the limits of the manual to avoid or cause damage to Hermes. *Please refer to the real object. We reserve the right to update the product without notice. *Product manual version v1.0.
16.2 Certificate
Company name: Shanghai Slamtec Co., Ltd Company Address: Unit 01, 2nd Floor, Building E, Shengyin Building, No.666 Shengxia Road, China (Shanghai) Pilot Free Trade Zone. Contact information: (+86) 021 68581569
59 Copyright 2016-2021 Shanghai Slamtec Co., Ltd.

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