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¤t&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¬&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¬&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¬&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§ion&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¬&lose&its¤t&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&(initialµphone&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&theµphone.&Theµphone&needs&to&be&calibrated&every&
time&the&robot&is&booted.&
Calibrate&theµphone&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&theµphones&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&
6µphone&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
Theµphone&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§ion&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®istered&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¤t&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®istered&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§ions:&
1. Menu-bar&
At&the&top&of&the&screen,&the&title-bar&is&shown.&This&compone nt&contains&the&se ttings&
and&the¤t&battery-level.&
This&component&can&be&used&to:&
o Edit&the&settings&of&the&kiosk-app&
o View&the¤t&battery-level&
o Move&the&robot&to&the&(nearest)&chargi ng&station&
2. Content&
In&the¢er&of&the&screen,&the&content&of&the¤t&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§ion&'Kiosk&Editor'&in&
ZBOS&Control.&
Page is loading ...
Page is loading ...
Page is loading ...
Page is loading ...
Page is loading ...
Page is loading ...
Page is loading ...
Page is loading ...
Page is loading ...
Page is loading ...
Page is loading ...
Page is loading ...
Page is loading ...
Page is loading ...
Page is loading ...
Page is loading ...
Page is loading ...
Page is loading ...
Page is loading ...
Page is loading ...
Page is loading ...
Page is loading ...
Page is loading ...
Page is loading ...
Page is loading ...
Page is loading ...
Page is loading ...
Page is loading ...
Page is loading ...
Page is loading ...
Page is loading ...
/
