The guide suggests to enable the ADB over network using ADB over USB in sys-usb and then you can access the Android device from some qube connected to the same LAN as Android device.
If you don’t want to connect the android to the internet or to have a separate offline WiFi router (or setting up a WiFi AP in the qube) to connect a qube and an android device, then you can connect it directly to some qube like this: