ZoraBots JAMES User manual

James Manual

ZoraBots[email protected]Revision 12/11/2019

Table of Contents

• Introduction

• Terminology

• Getting started

o Assembly

§ Out of the box

§ Lift the cover

§ Remove the accessories

§ Remove the styrofoam cover

§ Re-assemble the box

o Charging James

§ Placing the charging station

§ Charging James on the charging station

§ Recharging James

o Initial setup

§ Language Selection

§ Microphone Calibration

§ Configure the WiFi

§ Connecting to the robot

• Hardware

o Specifications

§ General

§ Tablet

§ Peripherals

o Connectivity

§ Wifi specifications

§ SLAM

§ Lidar

§ Battery

• Interacting with James

o Voice Commands

§ Settings

§ Indicator

§ Prerequisites for the voice commands

§ Voice Commands

§ Advanced features

o Tablet

o Title-bar

o Battery

o Content

§ Available types

§ Default Kiosk

o ZBOS Control

• Safety

o Charging station

o Safety guidelines

§ General precautions

§ Pinching hazards

o Lithium-Ion battery

§ Disposal

o Cleaning the robot

§ Cleaning the tablet-screen

§ Cleaning the plastic surfaces of the robot

• Contact and legal notices

o Legal Notices

Introduction

James&is&an&autonomously&moving&robot,&that&listens&to&voice-commands&and&responds&or&

acts&accordingly.&It&can&move&to&a&location&or&say&the&current&weather&report&for&example.&

The&software&for&James&has&been&designed&to&respond&to&the&voice(s)&of&user(s),&to&let&the&

robot&move&to&specified&locations&or&Points-Of-Interests&(POI’s)&and/or&show&information&

on&the&display.&

James&can&also&be&used&to&control&certain&parts&of&a&smart&home&(i.e.&turn&the&lights&on&or&

off,&open&doors,&…).&These&advanced&features&require&customisation&of&the&smart&home&and&

will&therefore&not&be&detailed&in&this&manual.&

James&will&continuously&scan&the&immediate&environment&using&laser-detection&(called&

LIDAR-system).&This&system&is&installed&in&the&base&of&the&robot&and&the&generated&map&

can&be&adjusted&using&the&ZBOS&Control&App&(available&for&Android-&or&iOS-systems)&or&

using&the&online&cloud-control&website&

(1)

,&meaning&the&owner&can&add&areas&where&James&

is&not&allowed&to&enter&or&to&place&James&in&the&correct&position&on&the&map.&

James&can&also&display&the&map&on&the&tablet-screen&by&using&the&SLAM&app,&which&is&

installed&by&default.&This&feature&is&provided&so&the&user&can&follow&the&route&that&James&

will&take&to&a&POI.&

James&will&try&to&position&itself&on&the&loaded&map&when&it&is&booted&up.&By&connecting&

James&to&the&charging&station&whenever&the&robot&is&(re-)started,&the&robot’s&position&will&

be&re-calibrated&to&a&fixed&point,&thus&improving&the&reliability&of&the&mapping&system.&The&

ZBOS&Control&App&is&available&for&Android&and&iOS-systems.&These&tablets&or&smartphones&

are&not&included&in&this&package&and&need&to&be&bought&separately.&For&more&infor mation&

on&the&required&specifications&for&the&tablets,&see&the&chapter&'Recommended&system&

requirements'.&

To&provide&the&latest&installations&on&the&robot,&updates&will&be&installed&periodically&

if/when&the&robot&is&connected&to&the&internet.&

Terminology

The&following&terminology&is&used&throughout&this&document:&

Tablet&

A"tablet"or"smartphone"where"the"ZBOS"Control"App"has"been"instal led.&

App&

An"application"to"be"installed"(usually"on"the"robot).&

RIL&

Robot-Independent-Layer."The"software"developed"by"ZoraBots"to"interact"between"different"types"of"robot"and"ZBOS"Control.&

User-data&

Custom-made"data"unique"for"each"user/device"(such"as"compositions"or"datasets).&

Kiosk&

An"application"showing"other"applications"that"will"be"run"on"the"robot.&

Quiet7

hours&

The"quiet"hours"are"the"times"when"the"robot"should"not"be"in"use,"and"certain"automatic"features"are"disabled"during"this"time"

(such"as"notifications).&

Getting started

This&section&will&describe&how&to&start&using&James&straight&out-of-th e-box.&

&

The original box is needed should the robot need maintenance.

Assembly

Out of the box

First&of&all,&how&to&get&the&robot&out&of&the&box?&

Lift the cover

Lift&the&outer&cardboard&cover&up&so&the&styrofoam&protection&is&shown.&

Place&it&to&the&side&before&continuing.&

Remove the accessories

Remove&the&charging&station&

(1)

,&power-cable&

(2)

&and&quick&guide&

(3)

&from&the&top&of&the&box.&

Put&them&aside&for&now.&

Remove the styrofoam cover

The&following&steps&should&be&used&to&unpack&James.&

• Lift&the&cover&off&the&robot&

• Split&the&middle&styrofoam&cover& to&reveal &James&

• Lift&James&out&of&the&base-styrofoam&

Re-assemble the box

Use&the&earlier&steps&in&reverse&to&re-assemble&the&box.&

1. Re-attach&the&middle&cover(s)&on&the&base&of&th e&box&

2. Place&the&styrofoam&cover&on&top&

3. Cover&the&styrofoam&with&the&cardboard&cover&

Charging James

Once&removed&from&its&protective&cover,&the &robot&needs &to&be&fully&charged &before&it’s &

first&use.&It&is&recommended&to&use&the&charging&station.&

&

The&following&precautions&should&be&taken&into&account&when&using&the&charging&station:&

1. During&the&setup,&connect&the&power&adapter&to&the&power&grid&before&connecting&it&to&the&charging&station.&

2. Don’t&expose&the&charging&station&to&direct7sunlight.&This&may&cause&the&robot&to&be&unable&to&find&the&charging&station.&

3. Ensure&the&eye&is&always&visible&to&the&robot.&

The&'eye'&on&top&of&the&charging&station&needs&to&be&spotted&by&the&robot&to&find&the&charging&station.&In&case&the&socket&is&on&

the&other&side&of&the&charging&station,&make &sure&the&cable&i s&behind&the&sensor&on&top&of&the&charging&stati on.&

Placing the charging station

Before&placing&the&charging&station,&ensure&the&i ntended&locatio n&meets&the&fo llowing&

requirements:&

• Plenty&of&clear&space&for&the&robot&to&safely&dock&with&the&charging&station&

• A&flat&floor,&so&the&robot&can&dock&with&the&charging&station&

• A&flat&back-surface&for&the&charging&station&to&lean&against&(no&tilting)&

For&example:&

Once&the&location&has&beeen&validated,&the&charging&s tation&can&be&placed.&

Charging James on the charging station

For&James&to&always&have&its&correct&position&on&the&loaded&map,&the&robot&should&always&

be&started&while&on&its&charging&station.&

Move&the&robot&by&hand&when&it&is&still&turned &off&so&the &connectors&at&the&back&of&the&

robot&connect&to&the&connectors&on&the&charging&station.&

External view

Close-up

Charging indicator

The&power&button&will&light&up&in&blue&if&the&robot&is&charging.&

Recharging James

You&can&tell&James&to&go&to&the&charging&station,&press&"G o&to&charging&stati on"&on&the&

battery&icon&in&Kiosk,&or&use&ZBOS&Control&to&go&to&a&ch arging&station.&

Alternatively,&if&you&want&to&manually&move&James&to&the&charging&station:&

• Turn&the&robot&off&

• Connect&the&robot&to&the&charging&station&

• Turn&the&robot&back&on&

This&is&to&ensure&that&James&does&not&lose&its&current&position&on&the&map.&

Initial setup

Once&the&robot&has&been&connected&to&the&charging&s tation&and&is&char ging,&the&initial&s etup&

can&be&performed.&Push&the&power-button&to&turn&James&on.&

Once&the&robot&has&been&turned&on&for"the"first"tim e,&the&initial&setup&will&start.&

Language Selection

The&first&step&is&to&select&the&language&the&robot&will&use.&By&default&English,&French&and&

Dutch&are&available.&

This&language&will&be&used&for:&

• The&remaining&setup-display&(display-language)&

• The&language&James&will&listen&to&(voice-commands)&

• The&default&language&when&rebooting&the&robot&(initial&microphone&configuration&and&

display)&

• The&subsequent&default-language&for&starting&kiosks&and/or &voice-commands&(These&

options&can&be&changed&later&in&the&settings).&

Microphone Calibration

The&next&step&is&to&calibrate&the&microphone.&The&microphone&needs&to&be&calibrated&every&

time&the&robot&is&booted.&

Calibrate&the&microphone&by&following&the&instructions&shown&on&the&screen.&

Configure the WiFi

The&next&step&is&to&configure&the&WiFi&and/or&hotspot.&

Tap&the&option&Hotspot&(1)&to&calibrate&the&password&for&the&hotspot&of&the&robot.&

Tap&the&name&of&the&network&(2)&to&enter&the&password&for&the&local&wifi-network.&

Connecting to the robot

Finally,&a&page&containing&the&information&to&connect&to&the&robot&is&shown.&

Scan&the&QR-code&shown&in&the&connection-page&of&ZBOS&Control&to&connect&to&the&robot.&

For&more&information,&see&the&manual&for&ZBOS&Control.&

Hardware

James&is&a&humanoid&robot&built&by&Siasun&and&equiped&with&ZoraBots&operating&system&

(ZBOS).&The&main&focus&when&developing&James&was&to&make&a&robot&that&can&guide&users&

to&specific&locations.&

James&will&interact&with&the&user&using&the&tablet&and&the&microphones&and&speakers&

installed&in&the&head&and&body&of&the&robot.&James&will&also&continuously&scan&the&

environment&using&the&SLAM-system&installed&in&the&base&of&the&robot.&

Specifications

General

James&has&the&following&specifications:&

Dimensions&

420&mm&x&420&mm&x&800&mm&(LxWxH)&

Weight&

17&kg&(including&the&packaging)&

Base7station&

240&mm&x&85&mm&x&95&mm&(LxWxH)&

Operating7temp&

0&-&40&°C&

Operating7humidity&

20&-&90%&

Maximum7operating7time&

9&à&12h&

Tablet

The&tablet&mounted&in&the&"head"&of&James&has&the&following&specifications:&

CPU7Model&

MSM8953&

Number7of7cores&

8&(Qualcomm&MSM8953)&

Clock7speed&

2.0&GHz&

RAM&

3&GB&

Internal7Storage&

32&GB&

Touch-screen&

10"&capacitive&high&sensitivity&screen&

Camera-resolution&

13&MP&

Peripherals

The&following&peripherals&have&been&connected&to&the&tablet:&

Name&

Description&

Location&

Microphone7array&

6&microphone&ring-array&

At"the"top"of"the"robot&

Speaker&

5W&hifi&speakers&(x2)&

At"the"side"of"the"main"body&

Features

The&peripherals&contain&the&following&specifications:&

Audio-detection7range&

360°&

Echo7cancellation&

Supported&(available)&

Speech7enhancement&

Supported&(available)&

Voice7wake-up&

Supported&(available)&

Connectivity

James&can&connect&to&other&devices&using&the&following&specifications:&

WIFI&

2.4G&/&5G&Dual&Band&(802.11&b/g/n)&

4/5G&

Unsupported&

Bluetooth&

Bluetooth&Version&4.0&

Wifi specifications

The&wifi-router&(installed&in&the&main&body&of&the&robot)&has&the&following&specifications:&

Chipset&

MT7628AN&+&MT7612E&

Main7frequency&

580MHz&

Wireless7transmission7rate&

1167Mbps&

2.4GHz7channel7selection&

1-13&

2.4GHz7channel7bandwidth7optional&

20M&40M&

5GHz7channel7selection&

36&40&44&48&149&153&157&161&165&

5GHz7channel7bandwidth7optional&

20M&40M&80M&

SLAM

The&SLAM-system&in&the&base&of&the&robot&has&the&following&specifications:&

Lidar&

&

Bumpers&

2&(at&the&side&of&the&base)&

Scanner&

1&(scanning&to&the&front)&

Power7connector&

1&(at&the&back&of&the&base)&

Power7button&

1&(at&the&back&of&the&base)&

Microswitches&

(1)

&

2&(at&the&back)&

IR-detector&

(1)

&

1&(at&the&back)&

Wheels&

Omnidirectional&

Tripod&configuration&

(1)

:&These&are&needed&to&make&the&robot&dock&with&the&charging&station.&

Lidar

The&installed&Lidar-unit&has&the&following&specifications:&

Item

Unit

Min

Typical

Max

Comments

Distance&range&

Meter&(m)&

0.15&

-&

8&

Based&on&white&objects&with&70%&reflectivity&

Angular&range&

Degree&

0&

-&

360&

&

Item

Unit

Min

Typical

Max

Comments

Distance&

Resolution&

mm&

-&

<0.5&

-&

<1.5&meters&

Sample&

Frequency&

Hz&

2000&

8000&

8010&

&

Sample&Duration&

Millisecond(ms)&

-&

0.125&

-&

Scan&Rate&

Hz&

5&

10&

15&

The&rate&is&for&a&round&of&scan.&The&typical&value&is&measured&when&

RPLIDAR&takes&400&samples&per&scan.&

Laser&

wavelength&

Nanometer(nm)&

775&

785&

795&

Infrared&Light&Band&

Laser&power&

Milliwatt&(mW)&

-&

3&

5&

Peak&power&

Pulse&length&

Microsecond&

(us)&

60&

87&

90&

-&

Battery

The&battery&installed&in&James&has&the&following&specifications:&

Type&

Lithium-Ion&18650&

Voltage&

14.4V&

Capacity&

13Ah&

Energy&

187.2&Wh&

Interacting with James

The&user&can&give&James&instructions&or&ask&questions&using&the&following&methods:&

1. Voice7commands&

2. Tablet&

3. ZBOS7Control7App&

Voice Commands

James&can&be&controlled&by&using&voice-commands.&

James&will&listen&to&pre-programmed&voice&commands&after&the&wakeword7"OK$

James"&has&been&understood.&Stand&in&front&of&the&robot&for&the&best&results.&

Settings

The&following&speech-related&settings&can&be&found&in&the&advanced-section&of&the&settings.&

1. Listen&to&voice-commands&

2. Rotate&the&robot&when&hotword&is&recognized&

Indicator

The&microphone&at&the&bottom&of&the&home-screen&on&the&tablet&can&also&be&used&as&an&

indicator&to&see&if&James&is&listening.&

Not&listening&

Listening&

&

Prerequisites for the voice commands

Not&all&voice&commands&can&be&used&all&of&the&time,&the&following&conditions&must&be&set&in&

order&to&use&(some)&voice-commands.&

1. Settings7of7the7robot&

The&setting&'Spoken&commands'&in&the&general&settings&needs&to&be&turned&ON&before&the&

robot&will&respond&to&the&wakeword&"OK7James"&and&start&listening.&

&

If the option 'Spoken commands' is off, the option 'Rotate the robot when hotword is recognized' will be greyed out and unable to be

changed.

2. Internet&

Certain&features&require&an&active&internet-connection&to&retrieve&the&latest&data&and&to&

keep&up-to-date.&

For&example:&

• Weather&

• Verklizan&

• Installed7apps&

3. VoIP&

In&addition&to&having&a&connection&to&the&internet,&a&stable&connection&is&needed&to&make&

calls&using&VoIP-services&(the&minimum&bandwidth&needed&for&a&VoIP-call&is&between&85&

and&100&kpbs).&

The&section&VoIP"/"SIP&in&the&settings&has&been&created&to&enter&the&account-information&

needed&to&call&the&Verklizan&helpcenter&(or&any&other&VoIP-service).&A&SIP-account&needs&

to&be&registered&at&Verklizan&before&any&V oIP-calls&to&their&help-center&can&be&made.&

Voice Commands

The&following&is&(an&extract&of)&the&list&of&voice-commands.&

Command

Actions taken by the robot

Call&help&

Triggers&an&alarm&at&Verklizan.&

(1)

&

(2)

&

I&need/want&help&

What&is&the&date&of&today&

What&is&the&date&(today)&

The&robot&states&the&date&according&to&location&specifications.&

What&year&is&it?&

The&robot&states&the&current&year.&

What’s&the&day?&

Which&day&are&we&today?&

The&robot&states&the&day&of&the&week.&

(e.g.&Monday)&

What&time&is&it?&

How&late&is&it?&

The&robot&states&the&time&as&hour&+&date.&

Hello&

The&robot&states&a&self-introduction.&

Command

Actions taken by the robot

Goodbye&

The&robot&says&goodbye.&

Introduce&yourself&

Who&are&you&

The&robot&introduces&itself&

What&will&the&weather&be&like&this&

morning/afternoon/evening?&

The&robot&states&the&weather&forecast&for&the&specified&time&of&day.&

What&is&the&weather&for&today&

What&is&the&weather&forecast&for&today&

The&robot&states&the&weather&forecast&for&the&day.&

What&will&the&weather&be&like&(the&day&after)&tomor row&

The&robot&states&the&weather&forecast&for&the&specified&date.&

Go&to&<Point-Of-Interest>&

The&robot&will&move&to&the&registered&POI&

(3)

.&

Enable/disable&offer&more&help&feature&

The&robot&will&(no&longer)&state&the&message&‘Can&I&help&you&with&something&

else’.&

(1)

:&This&option&is&only&available&for&robots&where&this&option&has&been&installed&and&

configured.&

(2)

:&Confirmation&is&required&before&the&alarm&will&be&triggered&and&is&only&available&if&a&

valid&SIP-&and&VoIP&is&configured&in&the&settings&of&James.&

(3)

:&The&correct&map&needs&to&be&loaded&on&the&robot.&

Advanced features

James&can&be&further&customized&so&the&following&options&can&be&used:&

1. Turn&to&the&source&of&the&voice&

James"will"turn"to"the"direction"of"the"voice"if"the"wake-word"has"been"understood"and"the"

option"‘Rotate"the"robot"when"hotword"is"recognized’"is"enabled.&

2. Display&the&command&in&the&kiosk&

If"the"kiosk-app"(home"screen)"is"active,"the"recognized"command"will"be"displayed"on"the"

tablet.&

3. Start&an&activity&when&no&input&has&been&detected&

James"can"start"an"activity"(composition,"moving"to"charging"sta tion,"…)"if"no"input"has"been"

detected"by"the"user"for"some"time."This"action"can"then"be"stopped"by "any"user-interaction"

(speech,"tapping"the"tablet,"…)&

Tablet

The&tablet&is&the&main&interface&for&interacting&with&James&for&using&the&more&advanced&

features&(e.g.&starting&compositions,&opening&folders&and&apps,&…)&

The&kiosk-app&will&also&function&as&the&home-screen&for&the&tablet.&

The&app&contains&the&following&sections:&

1. Menu-bar&

At&the&top&of&the&screen,&the&title-bar&is&shown.&This&compone nt&contains&the&se ttings&

and&the&current&battery-level.&

This&component&can&be&used&to:&

o Edit&the&settings&of&the&kiosk-app&

o View&the&current&battery-level&

o Move&the&robot&to&the&(nearest)&chargi ng&station&

2. Content&

In&the&center&of&the&screen,&the&content&of&the&current&kiosk&is&shown&(e.g.&Multimed ia,&

Applications,&…)&

The&content&of&the&kiosk&can&be&changed&(quite&easily)&using&ZBOS&Control&and&

functions&the&same&as&a&smartphone&or&tablet.&Simply&tap&the&icon&to&execute&the&

linked&action&(show&video,&go&to&POI,&start&an&app,&…)&

For&more&information&on&changing&the&Kiosk-dataset,&see&the&section&'Kiosk&Editor'&in&

ZBOS&Control.&

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ZoraBots JAMES User manual

ZoraBots JAMES User manual

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