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James Manual
ZoraBotssupport@zorabots.comRevision 12/11/2019
Table of Contents
•
Introduction
Terminology
•
Getting started
•
Assembly
o
Out of the box
§
Lift the cover
§
Remove the accessories
§
Remove the styrofoam cover
§
Re-assemble the box
§
Charging James
o
Placing the charging station
§
Charging James on the charging station
§
Recharging James
§
Initial setup
o
Language Selection
§
Microphone Calibration
§
Configure the WiFi
§
Connecting to the robot
§
•
Hardware
Specifications
o
General
§
Tablet
§
Peripherals
§
Connectivity
o
Wifi specifications
§
SLAM
§
Lidar
§
Battery
§
•
Interacting with James
Voice Commands
o
Settings
§
Indicator
§
Prerequisites for the voice commands
§
Voice Commands
§
Advanced features
§
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Summary of Contents for ZoraBots James
- Page 1 Remove the accessories § Remove the styrofoam cover § Re-assemble the box § Charging James Placing the charging station § Charging James on the charging station § Recharging James § Initial setup Language Selection § Microphone Calibration § Configure the WiFi §...
- Page 2 Lithium-Ion battery Disposal § Cleaning the robot Cleaning the tablet-screen § Cleaning the plastic surfaces of the robot § Contact and legal notices • 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 , meaning the owner can add areas where James is not allowed to enter or to place James in the correct position on the map.
- Page 3 Terminology The following terminology is used throughout this document: Tablet A tablet or smartphone where the ZBOS Control App has been installed. App An application to be installed (usually on the robot). RIL Robot-Independent-Layer. The software developed by ZoraBots to interact between differe 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. Quiet The quiet hours are the times when the robot should not be in use, and certain automatic f hours (such as notifications). Getting started This section will describe how to start using James straight out-of-the-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.
- Page 4 Place it to the side before continuing. Remove the accessories Remove the charging station , power-cable and quick guide from the top of the box. Put them aside for now.
- Page 5 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.
- Page 6 1. Re-attach the middle cover(s) on the base of the 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 t 2. Don’t expose the charging station to direct sunlight. This may cause the robot to be u 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 chargin the other side of the charging station, make sure the cable is behind the sensor on top of t Placing the charging station Before placing the charging station, ensure the intended location meets the following requirements:...
- Page 7 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 station can be placed.
- Page 8 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...
- Page 9 Close-up Charging indicator The power button will light up in blue if the robot is charging.
- Page 10 Recharging James You can tell James to go to the charging station, press "Go to charging station" on the battery icon in Kiosk, or use ZBOS Control to go to a charging 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 station and is charging, the initial setup can be performed. Push the power-button to turn James on. Once the robot has been turned on for the first time, 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...
- Page 11 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.
- Page 12 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.
- Page 13 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) Base station 240 mm x 85 mm x 95 mm (LxWxH) Operating temp 0 - 40 °C Operating humidity 20 - 90% Maximum operating time 9 à 12h Tablet The tablet mounted in the "head" of James has the following specifications: CPU Model MSM8953 Number of cores 8 (Qualcomm MSM8953) Clock speed 2.0 GHz RAM 3 GB Internal Storage 32 GB Touch-screen 10" capacitive high sensitivity screen...
- Page 14 Camera-resolution 13 MP Peripherals The following peripherals have been connected to the tablet: Name Description Location Microphone array 6 microphone ring-array At the top of Speaker 5W hifi speakers (x2) At the side o Features The peripherals contain the following specifications: Audio-detection range 360° Echo cancellation Supported (available) Speech enhancement Supported (available) Voice wake-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 Main frequency 580MHz...
- Page 15 Wireless transmission rate 1167Mbps 2.4GHz channel selection 1-13 2.4GHz channel bandwidth optional 20M 40M 5GHz channel selection 36 40 44 48 149 153 157 1 5GHz channel bandwidth optional 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) Power connector 1 (at the back of the base) Power button 1 (at the back of the base) Microswitches 2 (at the back) IR-detector 1 (at the back) Wheels Omnidirectional Tripod configuration : These are needed to make the robot dock with the charging station. Lidar The installed Lidar-unit has the following specifications: Item Unit Typical Comments Distance range Meter (m) 0.15 Based on white objects with 70% Angular range Degree 360...
- Page 16 Millisecond(ms) 0.125 Scan Rate The rate is for a round of scan. Th RPLIDAR takes 400 samples per s Laser Nanometer(nm) 775 785 795 Infrared Light Band wavelength Laser power Milliwatt (mW) Peak power Pulse length Microsecond (us) 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. Voice commands 2. Tablet 3. ZBOS Control App Voice Commands...
- Page 17 James can be controlled by using voice-commands. James will listen to pre-programmed voice commands after the wakeword "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. Settings of the robot The setting 'Spoken commands' in the general settings needs to be turned ON before the robot will respond to the wakeword "OK James" and start listening.
- Page 18 If the option 'Spoken commands' is off, the option 'Rotate the robot when hotword is recognized 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 • Installed apps • 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 VoIP-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.
- Page 19 Actions taken by the robot Goodbye The robot says goodbye. Introduce yourself The robot introduces itself Who are you What will the weather be like this The robot states the weather forecast morning/afternoon/evening? What is the weather for today The robot states the weather forecast What is the weather forecast for today What will the weather be like (the day after) tomorrow The robot states the weather forecast Go to <Point-Of-Interest> The robot will move to the registered Enable/disable offer more help feature The robot will (no longer) state the me else’. : This option is only available for robots where this option has been installed and configured. : 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. : 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 station, …) 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, …)
- Page 20 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 component contains the settings and the current battery-level. This component can be used to: Edit the settings of the kiosk-app View the current battery-level Move the robot to the (nearest) charging station 2. Content In the center of the screen, the content of the current kiosk is shown (e.g. Multimedia, 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.
- Page 21 3. Navigation If a folder is opened, additional navigation-icons will be shown to navigate to the previous folder or back to the main screen. 4. Listening At the bottom of the kiosk, a microphone-icon is shown. This icon can be used to: Indicate if James is listening Tap the icon to make James start/stop listening Not listening Listening 1. Audio-controls If music is playing, the kiosk-screen will not be hidden. Instead, additional control will be shown to stop or pause the currently playing music. These controls will be hidden once the music finished playing. Title-bar The title-bar is used to: Open the settings for the kiosk • Show the battery-level • Move the robot to the (nearest) charging station • The middle of the title-bar is used to: Show the title of the current kiosk or folder •...
- Page 22 Display a (default) icon (if no title is defined). • Battery In the top-right corner of the title-bar, the battery-icon is shown. Tap this icon to display the menu, showing the current battery-level and the option to move James to the nearest charging station. Tap the option 'Go to charging station' to dock the robot with the nearest charging station. The nearest charging station needs to be unoccupied and connected to the charger, otherwise Ja Content...
- Page 23 The main part of the kiosk (2) contains all the shortcuts to (folders containing) apps, video’s, websites, … To create a custom dataset with the items, see the chapter 'Kiosk Editor' for ZBOS-Control. Available types The main content-screen can contain the following items: Type Function Folder A container for other icons. Application An app installed on James will be launched. Image An image stored on James that will be displayed until the user touches the screen. Video A video-file stored on James that will be displayed until the user touches the screen or Audio A music-file stored on James that will be played in the background. This will also show the additional audio-controls in the bottom-right corner. Composition A composition stored on James that will be played. Website A website that will be displayed in the main kiosk. Mqtt A message can be specified to be sent directly to the (built-in) mqtt service. This feature is (currently) being remodelled to incorporate domotica.
- Page 24 Type Function Shortcut A link to an already existing item in the kiosk (e.g. 'Home screen'). Call Help A VoIP-call will be started using the VoIP/SIP-settings configured on the robot. Default Kiosk The default kiosk, installed on every ZBOS-powered robot contains samples of the capabilities of the robot. The content of the default kiosk is as follows: Features Each icon in the main screen can be customized in both content and styling. Each icon in the grid can contain an icon to further help with visually identifying the content on James. This icon will be shown in the bottom-right of the main icon. = Settings...
- Page 25 Tap the icon in the top right corner of the kiosk to open the options for James. Note that some options can be locked by the system administrator to prevent unauthorized access. The settings page will be shown when tapping on any of the options shown above. 1. About Tap this option to display the system information of James (Installation, Battery, Network, …). 2. Settings Tap this option to unlock and show the other settings. 3. Language Tap this option to change the default display- and speech-language for James. Only the 'About'- and 'Language'-pages do not require a PIN-code to change.
- Page 26 Selecting Selecting Linking a system Setting th Adjusting the volume Slide the the new v Tap outsi for the vo Selecting a dataset...
- Page 27 Tap on an kiosk. To upload new/updated dataset, see the section 'Kiosk Editor' for ZBOS Control. : The color-scheme used by the dataset will be applied immediately. The content of the dataset will only be shown once the main kiosk-screen is shown again. Selecting a wifi-network The Wifi-page contains the following settings:...
- Page 28 : The name of the currently connected network will be shown at the top of this section : Only the password for the hotspot can be changed. List of available wifi-networks The list of networks uses the following icons: Connected network Protected network Known network, not connected Non-protected network (open) : Only WPA2-Personal networks are supported at this time. Tap a network in the list to enter the necessary credentials . Once the robot is connecting to the network, the status for the connection will be updated every 10 seconds.
- Page 29 If James won’t connect to a known network, try the following sequence: - Forget the network - Close the wifi-page - Open the wifi-page and enter the necessary credentials for the network again. Current status of the wifi-network The current status of the network will be shown. The current list of available statuses are: Connected •...
- Page 30 Tap the 'Refresh'-button to reload the list of available networks. Close the settings Tap the 'Close'-button to close the wifi-settings. Linking a robot to ZBOS Control or Cloud-system Tap the option 'Link robot to account' to show the connection-page again. Setting the Quiet Hours This option is not implemented at this time. == Feature settings Tap the option 'Features' to show additional (optional) features for the main Kiosk-screen.
- Page 31 If the switch if turned to the right, the option is activated. This option is not always as clear when using custom color-schemes. Show all installed apps Tap the option 'Show all installed apps' in the list of folder in the kiosk with all the installed applications of the selected dataset). Show saved compositions...
- Page 32 Tap the option 'Show saved compositions' in the lis a folder in the kiosk with all the compositions store Show saved locations Tap the option 'Show saved locations' in the list of [ folder in the kiosk with all the POIs for the current Enable charging screen...
- Page 33 Tap the option 'Show c settings] to show or hid booted. The battery-level will only be shown if the robot is charging (directly from the adapter of cha The option to leave the charging station will only be shown if the robot is connected to a char Tap the option 'Inactivity' in the Settings-page to configure what the robot should do when/if the robot is idling.
- Page 34 Enable/Disable the inactivity Tap the option 'Enable inactivity actions' to configure if the robot should do something when no input has been detected for too long. By default, this option is set to OFF. Set the time until action is started...
- Page 35 Tap the o long the r action wi Scroll up the availa value to m minutes. Tap 'Conf Set the wake-up options Tap the o which act stop the s - Touch If set, the touchscre - Face If set, the face is de - Speech If set, the word has Tap 'Conf : If the option 'Spoken commands' is enabled in the 'Advanced settings'.
- Page 36 Configure the inactivity-action To define an action, the following steps are required: Select a type of action (e.g. Go to POI or start a composition • Select the correct parameter (e.g. name of the POI / composition) • : Only if the action can be further configured. The option 'Go to screensaver' can’t be configured for instance. Select the type of action Tap the o define th take whe Tap the o Select a parameter Should fu selecting which PO additiona These op...
- Page 37 based on selected. Tap an op compatib Only if a c additiona repeating Tap this o a wake-u Respect Quiet Hours This option is currently in development, and is used purely as a placeholder. == Domotics This option is currently being developed, and cannot be customized by the end-user at this time These options should only be used by experienced personnel.
- Page 38 Doing this without contacting ZoraBots voids the warranty. Tap the option 'Open Android settings' to open the settings for the Android-system. This will open the settings for the Android-system for the robot. On a James-robot, the wifi for the native Android-system needs to be turned OFF. This function has been replaced by the RIL-interface of ZoraBots and may cause conflicts when Restart the speech software This option has been provided for troubleshooting-purposes and should not be used lightly.
- Page 39 These files are only used for troubleshooting purposes and do not contain explicit personal info VoIP / SIP A valid SIP-service provider needs to supply the required credentials. ZoraBots cannot be held by external third-parties. Tap the option 'VoIP / SIP' to show the configuration options for the VoIP-settings. This option is only used by the 'Call for help' function. This function can be linked to the button...
- Page 40 Toggle the VoIP on or off Tap the option 'VoIP / SIP enabled' to enable or disable the account used by the 'Call for help'-feature of James. Enter the settings for the VoIP Enter the credentials - provided by a support call center (e.g. Verklizan) - in the required fields. Security To prevent any random person changing the settings of the robot, the settings for the kiosk can be locked (and unlocked) by setting a PIN-code. ZoraBots is NOT responsible for keeping track of the PIN-code(s) of the robot. Make sure the P code is securely stored and/or memorized.
- Page 41 :(ONLY if a PIN code has been set) Create a PIN-code Tap the o password currently...
- Page 42 Agree to OK-butto Use the fo code for t . Enter th PIN-code The PIN-c Alter the PIN-code Tap the o password...
- Page 43 Use the fo code for t . Enter th PIN-code The PIN-c Remove the PIN-code Tap the o remove t NOTE: Th code is se This function can also be used from ZBOS Control. Lock the settings...
- Page 44 A PIN-code must be set before this option is available. Tap the o the locke If this opt entered b Otherwis entering This function can also be used from ZBOS Control. == Language settings The language settings can be changed at any time, regardless of the PIN-code security- setting.
- Page 45 Tap the o the optio the optio language On this p - Change speech-la : This also determines the language James will listen to. Change the display-language Tap the o change th displayed Tap one o change th Change the speech-language...
- Page 46 Tap the o change th to. Tap one o change th This requires the speech-engine to be rebooted. == Apps Tap the options On this p - Open th Open the app store The app 'Uptodown App Store' needs to be installed before this feature will open said app. Tap the option 'Open App Store' to open the default app store.
- Page 47 : Currently, the only app store available for James is the Uptodown App Store. ZBOS Control Please refer to the ZBOS Control manual on the zoracloud-website. Safety This chapter describes the safety precautions that should be taken when using James. Charging station The following setup should be used to connect the charging station to the power grid: Insert the power adapter into the power outlet before connecting the charging station to the pow Make sure there is at least 40cm on each side of the charging station and 1m in front of it.
- Page 48 The following precautions must be taken when setting up the charging station: Charging station must be stable. • The charging station must be placed on a level floor, with straight baseboards (± 10cm). Incorrect Incorrect Do NOT expose the base station to direct sunlight. This may cause the robot to be • unable to find the charging station. Make sure the robot can clearly see the eye on top of the charging station. • 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 is behind the sensor on top of the charging station. Safety guidelines...
- Page 49 General precautions James is not a toy, do not leave children (<8 years) unattended with the robot. Do not spill water or other fluids on the robot. This may cause a short in the • internal circuitry, and completely disable the robot. Do not move the robot by hand while it is on. This may cause the operations of the • LIDAR-detection system to fail or malfunction. Always turn the robot OFF before moving the robot by hand. Do not place James directly next to a radiator or other heat sources. Indoor use only. Operating temperature between 5°C and 35°C. Operating humidity level between 20% and 80%. Pinching hazards Do not touch the following zones unless the robot is turned off:...
- Page 50 Within the indicated zone, your fingers or hand may get stuck if the robot is in operation. Lithium-Ion battery The cells/batteries should not be short circuited, punctured, incinerated, crushed, immers exposed to temperatures above the declared operation temperature range of the cell or ba Risk of fire or explosion may occur in the above condition of abuse. In case of a fire with th extinguish it, use a foam or CO2 extinguisher. Disposal Please follow your local regulation and do not dispose of this product with everyday household waste. The correct disposal of your old product will help the environment and human health. Cleaning the robot Before cleaning the robot, make sure it is turned off and not plugged into the power grid (charging station or otherwise). ONLY when the robot is completely dry, place it on the charging station and turn it back on. Cleaning the tablet-screen...
- Page 51 To clean the screen on the tablet, use a soft, lint-free cloth, preferably microfiber cloth. Never use a paper towel or other paper-based towels as they can leave scratches on the screen. For fingerprint smudges, dust, and lint, wipe the screen gently using a dry microfiber cloth. For more stubborn contaminants or stains, lightly dampen a section of a microfiber cloth with water and gently wipe the screen, then go over it again with a dry section of the cloth to wipe away any moisture. Avoid getting moisture in any openings like the speaker or microphone. If the stain remains, you can also try using a mild soap-and-water solution. Cleaning the plastic surfaces of the robot Make sure no water can leak into the robot (i.e. base of the robot, microphones, speakers, …). Use a dry microfiber cloth to gently clean the hard-plastic surfaces and use a slightly moist cloth (with general, nonabrasive cleaning agent if needed) to clean harder stains. Contact and legal notices We sincerely hope James will provide a valuable service to your home or business. Hopefully you will continue to provide us with the desired features or bugs which occurred in the workplace, so we can keep improving and expanding the product. In case you need to contact us, please use the contact-information below. Website https://zorabots.com/index.php/en/contact Ticketing https://zorabots.freshdesk.com E-mail support@zorabots.com Telephone +32 59 20 03 11 Address Archimedesstraat 17 8400 Oostende Belgium Legal Notices Android and Google Play are trademarks of Google LLC.
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