• The hole diameter should be slightly smaller than M10.


• Use an Allen wrench to tighten the screws to ensure that the antenna does not shift under stress.


• After installation is complete, do not move the antenna.

• ctrl+F Enter SN to query the registration code


• Pay attention to identify the registration code usage area


• Try to copy and write to avoid manual input

• 1. Select RTCM3.2 for "Differential Type"


• 2. "Data Link" selects the built-in radio station


• 3. Select TRIMTALK for "Radio Protocol"


• 4. "Radio Channel" Select 1


• 5. Select 9600 for "Air Baud Rate" and click Save.

• 1. EnterReceiver Status-Location Information Page


• 2. Confirm that there is coordinate data and the differential status is the base station (the 4G network status can be ignored)

• Robot local WEB address (China): http://112.74.61.22:15xxx


• The local WEB address of each robot is related to the server where the robot is located. Machines in the same server can enter different robot backgrounds by modifying the 15xxx tail number, such as robot No. 12http://112.74.61.22:15012/）

• 1. Go to the computer through the WEB cloud homepage, select the corresponding robot and click to enter the robot's local WEB backend;


• 2. Select the "Device Details" page, click "Set Parameters" in the upper right corner and select "UHF Frequency Parameters" to set the channel, sending frequency, receiving frequency, etc.

• 1. App binding robot - My - About us - Developer mode - Differentiated service configuration - Transmission mode Select UHF


• 2. Configure according to the same rules as WEBX - click Save

• 1. Click on the link https://robot.bynav.com:8105/home, you can enter the corresponding WEB cloud management background in the upper right corner of the page


• 2.Click "Differential System" - "Base Station List" page, click "New Base Station" in the upper right corner


• 3. Customize the base station information in the pop-up window


• 1. Name - needs to start with UHF_ or ZY_


• 2. Type is not required and defaults to RTCM


• 3. Click OK


• 4. After the creation is successful, the password will be displayed in the base station list. You need to copy the base station name and base station password.

• 1. Refer to section 4.4.1 of this article to enter the base station management terminal.


• 2. Enter "Receiver Configuration-IO Configuration" and click "Settings"


• 3. Data link - select "Built-in network"


• 4. Link mode - select "NTRIP"


• 5. IP address - Differentiated server configuration according to the region it belongs to, such as 8.134.210.73 in China


• 6. Base station port number——8101


• 7. Mount point - BYNAV


• 8. Output format——RTCM3.2


• 9. Account password - fill in the base station username and password created in the previous step through the WEB cloud, and click Save

• 1. On the base station management side, click to enter "Receiver Status-Location Information" to check the 4G network status. "Connected" should be displayed.


• 2. Check the WEB cloud. The newly created base station account should be displayed online and have real-time location information.

• 1. Click on the link https://robot.bynav.com:8105/home, you can enter the corresponding WEB cloud management background in the upper right corner of the page


• 2.Click "Differential System - Rover List" and click "New Rover" in the upper right corner


• 3. Enter the account password as required and click OK

• 1. Enter "Differential System - Rover List", select the newly created rover, and click "Bind Base Station" in the upper right corner of the page


• 2. In the pop-up page, select the base station to be bound, and click OK after selecting it.

• Robot local WEB address (China): http://112.74.61.22:15xxx


• The local WEB address of each robot is related to the server where the robot is located. Machines in the same server can enter different robot backgrounds by modifying the 15xxx tail number, such as robot No. 12http://112.74.61.22:15012/）

• 1. After entering the local WEB of the robot, click "Settings-Positioning Tool-Differential Configuration"


• 2. Enable differential correction configuration, set the transmission type to 4G, and set:


• 1. IP address - Differentiated server configuration according to the region it belongs to, such as 8.134.210.73 in China


• 2. Port——8102


• 3. Username and password—fill in the rover username and password created in step 1 through the WEB cloud, and click Save


• 4. Mount point - BYNAV

• 1. App binding robot - My - About us - Developer mode - Differentiated service configuration - Transmission mode Select 4G


• 2. Configure the same as WEB and save after completion

• 1. After entering the local WEB of the robot, click "Settings-Positioning Tool-Differential Configuration"


• 2. Gray out the Differential Configuration and Enable button, and click OK to save the settings.

• 1. Select the local WEB to enter the "Console" page


• 2. On the login terminal page, enter:


• 1. Username——wayrobo


• 2. Password——by20130402


• 3. Click OK to enter the robot terminal communication page

• 1. After entering the console page, send the command, connect the M2 positioning module, and enter the configuration state.



nc 172.31.31.201 4444



• 2. Confirm that the module can communicate normally. If the version query command is sent normally, the version number should be returned.



log version



• 3. Enter the command to configure the NTRIP account. The command content is explained in the table on the right. You mainly need to configure items 5 to 8 of the table, which represent the IP address and port number, mount point, user name, and password respectively.

NTRIPCONFIG NCOM1 CLIENT V1 192.168.1.88:8888 NTRIP BYNAV BYNAV ALL 

NTRIPCONFIG NCOM1 CLIENT V1 44.236.242.24:2101 POLARIS xwf9uk 4sjcq5 ALL

INTERFACEMODE NCOM1 RTCM BYNAV
LOG NCOM1 GPGGA ONTIME 1
SAVECONFIG
REBOOT

• 1. Open the local WEB backend of the robot


• 2. Click the "gear button on the right side of the device sn - restart robot.service" to restart the robot service.


• 3. After restarting the service, the M2 status can be refreshed.

• The "dot" point on the boundary of the working area is the contact point between the left front wheel of the robot and the ground.


• To ensure remote control safety, in remote control mode, please keep a distance of ≥ 5 meters from the robot and ensure that there are no obstacles in the driving path; no one should be allowed to move/play ball in the robot's working area to prevent accidents.


• Please do not exit the app or shut down the robot during mapping to avoid loss of mapping progress or errors.


• Slope: Please ensure that the slope does not exceed 15° at the edges of the work area and 20° within the work area

• The return point should be far away from the water spout to prevent the ball picking machine from being damaged by water;


• The home point cannot be set in the work area;


• There must be no obstacles or impassable terrain in the passage, and the passage entrance must not be immediately adjacent to the obstacle area to avoid affecting the return of the robot for charging.

• There is a no-go zone of default size near the unloading point;


• It can be set up in the prohibited area or far away from the prohibited area;


• The home point is prohibited from being set behind the prohibited area to avoid robot planning failure;

• If the customer's golf course sets a return point near a non-steel ball unloading table, the prohibited area can be defined on the web side.


• The length of the unloading table and the overall width of the unloading table corresponding to the ball unloading point are used to form a rectangle as the prohibited area; the system default parameters are configured according to the steel unloading table.

• It is recommended that fake turf be laid on the road section in front of the ball unloading platform of the ball unloading channel. Repeated rolling of the same location for a long time will easily cause damage to the lawn;


• The unloading point cannot be set in the work area.


• There should be no obstacles or impassable terrain in the channel. The channel entrance should not be close to the obstacle area. The ball unloading route and the return route should not cross to avoid affecting the robot's return to unloading the ball.


• It is necessary to reserve a straight path before the ball unloading platform, so that the ball picking machine can accurately align with the ball unloading platform and drive up.

• The ball unloading path extends 2.5 meters to the left and right as the ball unloading passable area. It is necessary to ensure that there are no obstacles and no dangerous areas in this area, otherwise the equipmentUnableReturn to the unloading point and trigger static obstacle avoidance.


• If the on-site conditions of the golf course are not met and the length of the unloading table is short, the parameters can be adjusted; however, the lowest edge of the unloading table extending 7.2 meters backward must be free of obstacles and dangerous areas.

• The ball unloading point extending 10m back is the adjustment area of ​​the ball unloading table on the ball picking machine. It must be ensured that there are no obstacles and dangerous areas in this area.


• If the customer's golf course cannot meet this requirement and the length of the unloading table is short, the parameters can be adjusted, but the minimum requirement is that there are no obstacles or dangerous areas within the area extending 7.2m backward from the bottom edge of the unloading table.

• It is necessary to ensure that there are no obstacles around the unloading table, as well as pedestrians and moving objects that are prone to collision. The device does not recognize obstacles on the unloading table and does not trigger obstacle avoidance, but it will recognize obstacles next to the unloading table.


• If there are obstacles near the unloading table on the golf course that can easily trigger static obstacle avoidance, the obstacle shielding range of the unloading table can be set on the web side.


• A rectangular area is formed by the shielding distance before and after the ball unloading point and half the shielding width on the left and right. Obstacles in the area will be shielded. The default parameters are adapted to the steel ball unloading table.

• Separate the ball unloading point and the return point. The distance between the two channels should be more than 5m to ensure that the channels are blocked;


• Ensure that there are no obstacles near the passage, allow normal passage, and avoid obstacles;


• The charging channel and ball unloading channel overlap to avoid channel borrowing.

• The return point and the unloading point only generate driving paths, and the default paths in the background are each expanded by 2.5m as the channel width; when the distance between the two points is less than 5m, the two channels are automatically connected.


• The ball unloading point extends 10m backward to the equipment loading and unloading table adjustment area. This area is designated as a channel by default and may be connected to the charging channel.


• After the charging channel intersects with the ball unloading channel, the range enclosed by it and the work area will automatically be set as a no-travel area.

• Areas that need to be protected: Areas with code tags, net bags, flagpoles and other items;


• Areas where the robot cannot pick up balls: low-lying water areas, sand pits, etc.;


• Areas where the robot cannot pass, such as areas where the slope is too large (>20°);


• Areas that robots are not expected to pass through.

• Suitable for marking relatively small restricted areas on the ground (length less than 3m on the horizontal plane, depth less than 2m), such as nets, flagpoles, signboards, and trees;


• For relatively small obstacles, which are more difficult to identify, the projection of the obstacle on the ground can be marked;


• It is not recommended to mark irregular large-area puddles, grass or deep sand pits on the ground. These scenes are more suitable for establishing restricted areas using detours.

• For objects with regular shapes and no hollows, such as wooden boxes: try to reduce the target frame and make the edges close to or slightly larger than the target outline. Random large-scale frame selection is prohibited.


• Flagpoles, tennis nets, green plants and other irregular-shaped, hollowed out or small objects: You can directly select their ground projection area.


• When marking the restricted area of ​​easily tilted obstacles such as flagpoles: it is necessary to appropriately expand the frame selection range to ensure that the restricted area covers the full height contour of the obstacle; if the restricted area is too small, the equipment will automatically stop when picking up the ball and encountering an obstacle.

• Marking points may not be located outside the course;


• The lines connecting marked points cannot cross;


• The length and width of hot zone mapping must be greater than 20m×20m；


• The hot zone trajectory is allowed to exceed the hot zone range, and the excess part is used for the equipment to turn around without intervention;


• The number of hot zones affects the planning speed. For every new hot zone added to the 10,000-square-meter stadium, the planning time will increase by approximately 1 minute.

• In scenarios where there is no passage area, it is recommended to partially convex the work area and reserve a dedicated U-turn area. Priority should be given to cement floors or other areas that are wear-resistant and will not damage the lawn as the U-turn position.


• The ball unloading table is arranged on the left side of the protruding area to ensure that the ball pickup machine completes a right turn in the cement area after driving away from the ball unloading table to avoid crushing and damaging the lawn.

• 1. Power on the base station and the robot, and confirm that the current positioning status of the robot is a fixed solution, that is, the positioning icon is green.

  


You can observe the positioning status icon through: WEB, App, and display screen

• 2. Drive the robot to an open environment and park it.Be sure not to move the robot during configuration! ! !

• Local WEB: Next to the serial number, set up - base station offset setting - click to turn on the calibration switch - confirm and return "Initialization successful"


• App: My - About us - Developer mode - Base station offset setting - Click to turn on the calibration switch - Confirm and return "Initialization successful"

• If the base station is powered off before moving in the third step, you need to power on the base station again and wait for the robot satellite navigation status to be re-fixed (positioning icon

  

  After turning green), go to the next step;


• If the mobile base station is not powered off, you can go directly to the next step.

• 1. Log in to the base station management page (refer to Chapter 5 of this article for details)


• 2. Write the obtained longitude, latitude, and altitude into the base station configuration (configure to at least eight decimal places), and click Save

• 1. Click App/local WEB again to get the offset


• 2. display"The base station calibration accuracy meets the standard"This means calibration has been completed


• 3. If the accuracy does not meet the standard, configure the offset result obtained by the current interface into the base station according to the method in step 6 and repeat the current step until the App/web displays that the accuracy reaches the standard.

• 1. Power on the base station and the robot, and confirm that the current positioning status of the robot is a fixed solution, that is, the positioning icon is green.

  


You can observe the positioning status icon through: WEB, App, and display screen

• 2. Drive the robot to an open environment and park it.Be sure not to move the vehicle during configuration! ! !

• Local WEB: Next to the serial number, set up - base station offset setting - click to turn on the calibration switch - confirm and return "Initialization successful"


• App: My - About us - Developer mode - Base station offset setting - Click to turn on the calibration switch - Confirm and return "Initialization successful"

• 1. Power off the old base station and power on the fixed new base station.


• 2. Configure the new base station. For specific steps, please refer to Chapter 5 of this document.


• 3. Confirm that the differential data of base station B is connected to the robot, and confirm that the satellite navigation status is re-fixed (the positioning icon turns green)

• 1. Log in to the base station management page (refer to Chapter 5 of this article for details)


• 2. Write the obtained longitude, latitude, and altitude into the base station configuration (configure to at least eight decimal places), and click Save

• 1. Click App/local WEB again to get the offset


• 2. display"The base station calibration accuracy meets the standard"This means calibration has been completed


• 3. If the accuracy does not meet the standard, configure the offset result obtained from the current interface to the base station according to the method in step 5 and repeat the current step until the App/web displays that the accuracy reaches the standard.