Introduction

The ZBOS Control app (for Android and iOS-systems) is the main controller for ZBOS powered robots (e.g. James, Cruzr or Oliver). Creating personalized kiosks or compositions, listening to the robot or seeing what the robot is doing, this app is versatile in its use.

ZBOS Control is available for Android and iOS devices, and can be downloaded from the respective stores. The app allows the users to controls robots from their home or by using the internet.

An online platform can also be used to control your robot. Some features are not available (i.e. uploading, downloading or viewing the multimedia-files), but can be accessed using all standard browsers (e.g. Google Chrome, Mozilla Firefox, Apple Safari or Microsoft Edge). This online platform can be used to create compositions, edit surveys, …​

This manual requires the following version of ZBOS Control to be installed: 1.4.5

Terminology

Term Explanation

Section or Page

A part of the app designed for a specific function (e.g. steering, simple composer, …).

Dashboard

A home-page in ZBOS Control that can be customized to show only the needed widget.

Widget

An item of the dashboard designed to show and control one part of the robot.

Blueprint

The general layout for the dashboard where the widgets may be placed.

Joystick

A joystick to control the movement of the robot (or specific parts of the robot).

Keypad

A keypad used to control the movement of the robot (or specific parts of the robot).

POI or Point-Of-Interest

A Point of Interest is a specific location defined on a map-object where the robot can navigate to.

Connection page

The page on the robot displaying the network information.

Local connection

A connection between ZBOS Control and a robot using a local network

Remote connection

A connection between ZBOS Control and a robot using the internet

It is highly recommended to use the tablet or smartphone in a Landscape-orientation, especially when using the composer- or editor-pages.

System requirements

The ZBOS Control app is available for download for iOS and Android-devices. These devices are not supplied by ZoraBots and must be purchased separately.

Minimum System Requirements Recommended System Requirements

V4.4 or higher
CPU: Quad Core @1.8 GHz
RAM: 2GB

V6.0 or higher
CPU: Quad Core @2.1 GHz
Memory: 4GB

iOS v11 or higher

iOS v12

At least 200MB of free disk space

At least 200MB of free disk space and enough space for storing images, sourcefiles and other files for use in the kiosk and/or survey editor.

For further information on downloading and installing apps on your device, please refer to the following links:

Download Requirements

The following requirements are needed before the app can be installed:

  • Wifi-access (for both the robot and the tablet)

  • Internet-access (only needed to install the app)

  • A valid Google Play store or iOS App Store account on the tablet or smartphone

  • The app itself needs access to the cloud to upload the necessary user-data

Downloading the app

Scan

To download ZBOS Control, the QR-codes below can be scanned with your tablet or smartphone, which will show the app in the respective store.

Play Store

App Store

QR code for ZBOS Control on Android

QR code for ZBOS Control on iOS

Search the store

Alternatively, the search term ZBOS Control can be entered in the applicable store to find the app.

Controlling your robot

The main purpose for ZBOS Control is to allow users to configure and use the robot based on their requirements (e.g. Using the robot as a security camera, guiding people to desks, showing product information, …​).

To that end, ZBOS-Control has been installed with options to build custom kiosks and compositions in addition to directly controlling the robot.

To provide the end-users with the installed features, links need to be provided in the kiosk before they can be accessed without ZBOS Control.

Initial Setup

When running ZBOS Control for the first time (or after a re-installation), an introduction is shown on how to connect ZBOS Control to the robot.

This tutorial will show the user how to:

  • Display the connection-information on a robot

  • Connect ZBOS using the generated QR-code

The initial setup contains the following pages and can be skipped at any time by tapping the Skip-button at the top of the page. The latter will ask to confirm if the tutorial may be skipped.

When scanning a new QR-code, the currently stored configuration will be overwritten. This configuration will also be used the next time ZBOS Control is started.

Introduction

A brief introduction is shown on the purpose and function of the ZBOS Control app. Tap the Next-button to continue to the next step.

Page1

On this screen, the explanation on how to show the connection-screen on the ZBOS-powered robot is shown.

There are 2 possibilities:

  • The screen is shown automatically at the end of the initial setup of any ZBOS-powered robot.

  • Tap the option Link robot to account in the General Settings of the robot.

Tap the button Continue or swipe left to display the next page.

Page2
For more information on connecting ZBOS Control to a robot, see the chapter Connections.
Page3
For more information on how to connect the robot to a local network, see the manual for the robot on Documentation Portal

Close the tutorial

Congratulations, the setup is now complete. Tap the button Continue or Skip to close the tutorial.

Page4
This tutorial can also be opened by tapping the option "Initial setup" in the main menu of ZBOS Control.

Once the tutorial has been completed, the Dashboard-page will be shown.

For smartphones, the dashboard is limited to 2 widgets.

Connections

Connecting Control

ZBOS Control can be used to connect to robots using local wifi, hotspot (if supported) or by using the Cloud. After connecting ZBOS Control to the robot, the features supported by the robot (e.g. Kiosk Editor, POI, Interactions, …​) will be made available.

There are 2 ways of connecting a robot to ZBOS Control, specifically:

  • Local: Control the robot on a local network (Both robot and tablet/smartphone with ZBOS-Control are connected to the same wifi-network).

  • Online: Control the robot remotely over the internet (Both robot and tablet/smartphone are connected via a stable internet-connection).

Local connection

This method does not require an active internet connection. The device running ZBOS Control needs to be connected to the same wireless network as the robot. This can either be a local Wi-Fi network or the Wi-Fi hotspot provided by the robot itself (this feature is not available on every robot).

Opening the connection-modal in ZBOS Control

Two options are available to show the connection-modal:

Option 1: Link robot

Tap the option Link robot in the list of available robots to display the robot-list:

LinkRobotMenu

The connection-modal will be shown.

Option 2: Robot-connection

In ZBOS Control, tap the settings-icon ( ) and tap the option Robot Configuration to open the connection-settings for ZBOS Control.

RobotConnectionSelect

The connection-modal will be shown.

This option is only available on robots installed with displays.

Tap the option-button on the robot and tap the option Settings (2) to show the settings.

OpenMenu

Tap the option Link robot to account in the General-page of the settings.

LinkRobotToAccount

Connect by scanning QR-code (App only)

Permission to use the camera of the tablet/smartphone are needed for this functionality.

Tap the option Scan QR code in the connection modal.

RobotConnectionPage
ScanQRCodeButton

Next point the device camera to the QR code shown on the robot screen to scan it.

LinkQRPage

The serial number and Wi-Fi-address will be entered automatically in the settings.

CheckConnectionInfo

Finally, tap the option Connect in the modal to connect ZBOS Control to the robot.

Additional options

Enter a value for the field Auto reconnect. Should the IP address of the robot change over time, which is not uncommon in a network environment, ZBOS Control will automatically search for the robot on the local network and update the settings if necessary.

Depending on the device and network conditions, it may take quite some time before a successful reconnect.
If for some reason the robot can not be found or you want to accelerate the process, just scan the QR-code again to reconnect.

Connect by entering the robot information manually

You can also find the robot in the network based on the IP-address or serial number.

To find the IP address or serial number of the robot, use the "Link robot to account" screen mentioned above.
Alternatively, the IP address can be obtained using the voice-command What is your IP address or by asking your network administrator.
The serial number can be found on the box or documents that came with your robot.

Tap the option Robot connection in the settings of ZBOS Control.

RobotConnectionPage

Manually enter the IP address (IPv4 only) in the connection-popup.

Alternatively you can enter a serial number (e.g. SH-J12-345678) and the robot IP address will be auto-detected (this feature may be blocked on some networks).

CheckConnectionInfo

Tap the option 'Connect' in the modal to connect ZBOS Control to the robot.

Cloud connection

ZBOS Control can be used to remotely control the robot over the internet. This method requires an active internet connection on the robot and the device running Control.

Requirements

To connect using the cloud-connection, the following requirements are needed:

Robot Tablet/Smartphone or Webbrowser

Internet connection

Internet connection

Enabled setting Advanced > Remote broker (this is the default setting)

Logged in with an active ZBOS Cloud account.

Create ZBOS-Cloud account

Open the page Login-page to show the login-page.

There are 2 options available:

  • Creating a ZBOS account

Tap the option I do not have a ZBOS account yet to register a new ZBOS account.

RegistrationPage

Enter a valid username, e-mail address and password (see restrictions) and tap the button Sign up to create a ZBOS account.

  • Using an third party account provider

Tap the option for the account provider (e.g. Log in with Google) to log in with.

GoogleAccount

Add robot to Cloud-account

Use the following steps to connect a robot to the cloud-account.

Log in on the cloud-platform from ZBOS Control

Tap the option and tap the option Login.

CloudLogin

Enter the necessary credentials.

LoginPage
  • Confirmation of successful login

A confirmation modal is shown after successfully logging in.

AccountDetails

The following information will be shown (if applicable)

  1. Welcome-message with the user-name

  2. Current mqtt-information for the account used by the cloud-system

  3. Serial-numbers of the linked robots

  4. Remaining free space on the cloud-platform (if applicable)

Tap the button Control your robot to use the required information in ZBOS Control.

Linking a robot to a cloud account
On the robot

Open the link to ZBOS Control page in the Kiosk, if your robot does not have a screen with Kiosk, please refer to the manual of your robot for specific instructions.

Tap the option Linking robot to account in the General Settings of the Kiosk.

General

To ensure no unauthorized links can be made, a link request needs to be confirmed on the robot itself. The connection-page will ask for confirmation once a request is received

ConnectionPage
In ZBOS Control

Tap the option Robot connection to add a robot to your account.

RemoteConnectionModal
The list of available robot will only be shown if at least one robot has been linked to the account.

Tap the button Add robot to show a connection-modal and enter the necessary information for the robot.

AddRobotModal

Enter the serial number of the robot in the required field and tap the button Add to connect to the robot.

Alternatively, tap the button Scan QR-code and scan the QR-code shown on the robot. For some robots without a screen, a QR code can be provided by Zorabots.

The serial number is case-sensitive and needs to be entered exactly as is shown on the screen.

Tap the button Add in the modal shown in ZBOS-Control to send a link-request to the robot.

Tap the confirmation button on the robot to link the robot to the user-account.

ConfirmButton

Once the robot is linked, ZBOS Control will be connected to the robot through the cloud platform.

In case you want to switch to another robot, tap the robot-list (1) and choose the robot in the section 'Cloud' (2) to connect.

RobotSelectionCloud

Connecting ZBOS Control to Cloud platform

ZBOS Control can also be used to control the robot remotely from the internet.

Connecting to the cloud platform

This option requires both the robot and a device with ZBOS Control to be connected to the internet.

Using ZBOS Control via the cloud requires you to be logged in. You can do this via the App or by visiting ZBOS Control in a webbrowser.

Here you can create a new account if needed or login with your existing account or by using a third party login provider like Google or Facebook.

Tap the icon to open the menu and then tap the option Login to connect to the Cloud platform.

CloudLogin

This will open a browser-window based on the settings of the device asking for credentials.

CloudCredentialsPage

Sign in to the ZBOS Cloud platform using valid credentials to send the information to the ZBOS Control app.

Logging out of the Cloud system

Tap the icon and tap the option Log out to disconnect from the Cloud system.

CloudLogout
This will disconnect and re-connect to the robot.

Differences between Cloud- and Local Control

Besides communicating over the internet, the following functionality-changes occur when using the ZBOS Cloud services to control a robot:

  • Only robots linked to the Cloud-account can be accessed (see Cloud connection for more information)

  • Images or videos in the Multimedia-page will no longer be previewed

  • Images or videos in the Multimedia-page will no longer be shown in the multimedia-blocks in the composer.

  • Multimedia-files can no longer be downloaded directly from the robot

  • Multimedia-files can’t be removed from the robot

  • An additional tab will be shown for the data stored on the cloud-account (e.g. multimedia, surveys/quizzes, kiosks, …​)
    CloudMediaModal

  • An additional section is added to the list of known robot(s)
    CloudRobotConnections

  • Lag may occur more frequently based on the type of internet-connection (e.g. 4G)

The cloud-tab will not be shown in the multimedia-composer-block.
To download multimedia-files from the robot, store them on the cloud-account before downloading them to the connected device.

Virtual robots

Introduction

Virtual robots can only be accessed while connected to the Cloud.
Currently, only Virtual Zora-robots are supported.

A simulator showing a virtual robot can be added to a cloud-account. This robot can be added to the cloud-account using the same process as adding a robot to the cloud-account.

A virtual robot isn’t supported in multi-robot-mode. Current version of Control is in Bèta-version, not all features are implemented at the time of writing.

Requirements

Option Required

Control

v1.2.0+

Cloud-account

Registered (free) account

Connection

Logged into cloud-account

Internet-connection

Required

Linking robot to cloud-account

The following steps are needed to connect to the virtual robot:

This feature requires ZBOS Control v1.2.0+
Adding a virtual robot

Tap the option 'Add virtual robot (bèta)' in the robot-connection-modal.

VirtualConnectionModal

Tap the type of robot to be added in the subsequent modal and tap the option 'Add' to confirm the robot-type to be added.

VirtualRobotList

The list of available robot is closed and the type is updated in the control-modal. Tap the button 'Add' in the selected modal to add a virtual robot to the cloud-account.

VirtualRobotSelect
It could take some time before the virtual robot is available in ZBOS Control.
Connecting to the virtual robot

There are two ways to select the virtual robot:

  • Tap the virtual robot in the robot-list

  • Select the robot from the list of linked robots in the connection modal.

Robot list

Tap the option for known robots in the menu-bar of ZBOS Control.

VirtualRobotConnectionRobotList

Tap the virtual robot from the list to connect to the virtual robot.

Connection modal

Open the connection modal (see Opening the connection-modal in ZBOS Control for more information).

Make sure the connection-type is set to 'Cloud' and select the robot from the list.

VirtualConnectionModalConnect

Tap the option virtual robot from the list and tap the option 'OK' to select the robot from the list.

VirtualRobotSelectionList

Finally, tap the option 'Connect' to connect to the virtual robot.

VirtualConnectionModalConnect2

Usage

The virtual robot cannot be selected when in multi-robot-mode.

After connecting to a virtual robot, the virtual robot is shown in a separate window.

HomePage
Some time may be required to display the robot in the modal, based on the specifications of the tablet/smartphone and the speed of the internet-connection.
Unsupported operations

The following widgets cannot be used on any virtual robot:

  • Camera

  • Camera Controls

Other operations (i.e. Interactions-modal/Composer-operations/…​) are based on the type of virtual robot. For example: Interactions are only available for Cruzr- and Zora-robots, not for a James-robot.
Using the virtual robot
Not all actions performed by the robot will be performed in exactly the same way as a real robot. Certain operations may take longer to execute on a real robot.

Like controlling a real robot, the virtual robot can be operated using the normal operations of ZBOS Control.

For example: To make Zora perform a dance, you can tap a dance in the interaction-list, Compositions can be created and executed using the same type of operations supported by the real robot, …​

Viewing the robot

The following operations can be used to modify the view of the robot:

Hide the virtual robot-window when creating or modifying a composition.
Showing or hiding the robot-window
Hiding the virtual robot

Tap the close-button in the top-right corner of the robot-window to minimize the virtual-robot-modal.

CloseModal

This will display the 'Show'-button in the bottom-right of the modal. See Showing the virtual robot for more information.

Showing the virtual robot
The 'Show'-button will only be shown if the robot is already hidden.

Tap the 'Show'-button in the bottom-right of ZBOS Control to show the virtual robot again in the previous position.

ShowButton
Moving the robot-window

Drag the modal using the title-bar to reposition the modal in ZBOS Control.

DragModal
Shrinking or enlarging the robot-window

Tap the '+'-button in the titlebar to enlarge the robot-window.

Enlarge

Tap the '-'-button in the the titlebar to shrink the robot-window.

Shrink
Moving the camera

Point and drag in the modal to change the camera-angle of the robot.

DragFull
The end-position of the pointer isn’t restricted to the boundaries of the modal.
Zooming in- and out

Pinch the fingers together in the robot-window to zoom in on the current view of the robot.

ZoomInFull

Spread the fingers away from each other in the robot-window to zoom out on the current view of the robot.

ZoomOutFull
Resetting the camera

Tap the reset-icon in the robot-window to reset the camera back to the original viewpoint.

ResetView
This will also reset the zoom-level.

Title-bar

The title bar is used to refer to the following part of the app:

TitleBar v0.33

The title bar can be used to:

  1. Open the menu of available pages

  2. See the title of the current page

  3. Identify or select the robot ZBOS Control is connected to

  4. (Re-)Connect to the robot using the stored settings

  5. Adjust the volume of the robot

  6. Adjust the language of the robot

  7. The current battery-level of the robot

  8. Open the settings for ZBOS Control

Menu

Not all options are supported on all robots. For example: The page 'Localisation and mapping' is unavailable on Zora.

Tap the icon in the top-left corner of ZBOS Control to open the navigation menu.

MenuList
  • The Dashboard page can be used to customize the start-page (not available on mobile phones).

  • The Steering page can be used to control the robot.

  • The Apps page can be used to launch and alter some apps (e.g. Kiosk) installed on the robot.

  • The Multimedia page is used to manage media-files used by the robot..

  • The Mapping page can be used to plot a map for navigating (if available).

  • The Surveillance page is used to show images recorded during robot surveillance (if available).

  • The Simple composer page is where users can further program the robot using functional blocks.

  • The Initial Setup page shows the start setup again.

Tap the icon in the top-left corner or outside the menu to close the menu.

Title

The title of the current page is shown next to the menu-button.

Robot-selection

The left-most icon of the right side shows an icon representing the robot-type (e.g. James, Cruzr, Oliver, …​). The last known configuration for the robot (i.e. Serial number and IP address) is stored.

RobotSelection

Tap the icon to display the list of linked robots.

The robots in the 'Cloud'-section will only be shown if ZBOS Control is connected to a Cloud-account. The name of the robot will be shown after connecting to the robot at least once after starting ZBOS Control.

Identifying the connected robot

Tap the icon once to send an instruction to the connected robot to identify itself. This will cause the title-bar of the connected robot to briefly flash in different colors.

RobotPoke

Switching robots

Tap the icon in the title-bar to display the list of known robots. Tap a robot in the list to use the last known connection-settings stored for that particular robot.

RobotSwitch

For example: The robot with the serial number SH-J00 123456 was last accessed using the IP address 192.168.0.101. Tapping the robot serial number will connect ZBOS Control to the robot with the IP address 192.168.0.101.

If tapping the icon doesn’t work, update the robot’s software and re-scan the qr-code to update the information stored in the ZBOS Control app.
Only one global connection is possible. The information will be updated once a new qr-code is scanned on the robot. Enable the option 'Simultaneous robot control' to connect to multiple robots at the same time.

Sections

The top section of the list will display the robot known on the local network, while the bottom half will display the robot linked to the cloud account.

RobotListSections
The cloud-linked robots will only be shown after a user is logged in.

Tap the option 'Link robot' to display the connection modal to link a robot:

TapLinkRobot

For more information on linking ZBOS Control to a robot, see the option Connecting Control

Connection status

Next to the icon showing the type of robot, the connection-status can be seen.

There are 3 possible value for the connection status:

Not Connected Connecting Connected

connection red

connection orange

connection green

When connected to a cloud-linked robot, this indicator is used to show the status of the cloud-system, nót the robot itself. For example: The status can be shown in green (cloud-system is connected), but the robot can’t connect (because it has been turned off for instance).

(Dis-)Connect to/from the robot

Tap connection status icon to connect to or disconnect from the currently connected robot.

ZBOS Control will not automatically reconnect if the connection was manually stopped.

Volume control

Tap the icon to display and modify the volume-setting.

VolumeControl

Slide the control to the left or right to set the volume. Changes will be applied once the slider has been released.

Not all numbers from 1-100 can be selected, only specific values can be selected (e.g. 20,26,…​).

Language options

This feature requires a RAIL version 1.3.0 or higher and a kiosk version 1.3.3 or higher to be installed on the robot.

Tap the language-option in the top right to display a list of available Speech recognition-languages for the robot.

Tap a language in the list to select it and tap the button Accept to change the language the robot can understand and speak.

LanguageModal
Changing this option will only change the language the robot is listening to, not the language displayed on the tablet or the default speech language.

Battery level

The current battery-level and the status of the battery is shown in the title bar.

This following 5 states are possible:

Icon Status

md icon battery charging

The robot is charging.

md icon battery high

The battery has over 50% charge.

md icon battery medium

The battery has between 50-30% charge left.

md icon battery low

The battery has between 30-15% charge left.

md icon battery critical

The battery has less than 15% charge left.

The charging-icon will always be displayed, regardless of the current level of the battery.

Settings

Tap the icon in the top-right corner to open the settings for ZBOS Control.

Menu

The containing menu can be used to:

(1): This option will only be shown if ZBOS Control was successfully connected to a robot (and while re-connecting).

(2): This option will only be shown if ZBOS Control is connected to the ZBOS Cloud platform.

About the robot

This option will only be shown once ZBOS Control has been connected to a robot.

Tap the option About the robot in the settings to display the information of the connected robot.

AboutRobot
For a James-robot, the MAC-address and SSID will be shown with default values.

Robot Connection

Tap the option 'Robot Connection' in the settings-menu to display the options for connecting ZBOS Control to a robot.

RobotConnectionSelect

Tap the option 'Connection' to select whether to connect to the robot using the local network or using the cloud system.

ConnectionTypeSelect
ConnectionType Local

Local connection

If the option 'Network' has been selected, the following options are available:

RobotConnectionModal Local
No Type Explanation

1

Connection-type

Type of Connection to use
(Local or Cloud)

2

Known IP addresses (1)

A list of earlier entered IP addresses
Tap an IP address from the list to select it and then tap the button 'OK' to enter the IP address in the field for the IP address.

3

IP address (2)

Field to enter the IP address of the robot to connect to

4

Re-connect time

Field to enter the time to re-connect to the IP of the robot

5

Hotspot-connection (2) (4)

Tap this button to connect to the robot if the smartphone/tablet is connected to the hotspot of the robot (JAMES ONLY)

6

Cancel

Button to close the modal and keep the current connection

7

Scan QR-code (3)

Tap this button to enter the network-information in the required fields of this modal by scanning the QR-code displayed on the robot

8

Connect

Tap this button to connect to a robot with the entered settings

(1): The list of IP addresses will only be shown if at least one connection has been made to a local IP address

(2): The last entry will be remembered

(3): ZBOS Control requires access to the camera of the smartphone/tablet

(4): This button will only be shown if the setting is enabled

Cloud connection

If the option 'Cloud' has been selected, the following options are available:

RobotConnectionModal Cloud
No Type Explanation

1

Connection-type

Type of Connection to use
(Local or Cloud)

2

Selected robot (1)

A list of robots linked to the Cloud-account
Tap this field to display a list of linked robots
Tap the robot in the list to select it and then tap the button 'OK' to select it

3

Re-connect time

Field to enter the time to re-connect to the robot

4

Add robot (2)

Tap this button to link a new robot to the cloud-account

5

Add virtual robot (3)

Tap this button to add a new virtual robot to the cloud-account

6

Cancel

Button to close the modal and keep the current connection

7

Connect

Tap this button to connect to a robot with the entered settings

(1): At least one robot needs to be linked to the connected account using the 'Add'-button

(2): See the chapter [Link robot to Cloud-account] for more information

(3): See the chapter Adding a virtual robot for more information

Control Settings

Tap the option Settings in the menu of ZBOS Control to display the settings for ZBOS Control.

SelectSettings
SettingScreen

In the popup, the user can:

  • Adjust the language used by ZBOS Control (Display only)

  • Toggle whether the ZBOS Control can connected to the hotspot of a James-Robot

  • Change the styling of ZBOS Control

  • Toggle the multi-robot Control (Dashboard-modal only)

  • Select which notifications should be shown while the app is minimized

  • Clear all local data

Only the display-language of ZBOS Control can be set, the voice-recognition is set to the language of the device itself. Please change the language of the device accordingly should this functionality be needed.

For example: The language on Android/iOS is in English while ZBOS Control is displayed in Dutch still results in English speech-recognition.

Adjusting the language

Tap the currently displayed language to open a popup containing all the languages supported for ZBOS Control.

SelectLanguage

Tap the desired language and then tap the option 'OK' to apply the new language to ZBOS Control.

SelectLanguage2

Enabling or disabling hotspot-connection

This option can only be used in combination with a James-robot.

Tap the option 'Enable hotspot mode' to show or hide the button 'Connect to hotspot' in the connection-page of ZBOS Control.

SelectHotspotToggle

If the option is checked, the button below will be shown in the Robot Connection-page.

ShowHotspotButton

Style

There are 2 options to change the style of ZBOS Control, specifically:

  • Changing the theme

  • Changing the color-scheme (not applicable when using the Temi-theme)

SelectThemeColor
Changing the theme

Tap the option Theme in the settings to display the available themes for ZBOS Control at the bottom of the app.

SelectThemes

Tap a theme to apply it immediately. Tap the button Cancel in the list or outside of the list to close the selection-popup.

ThemeList

The following themes are available:

  • Default

This is the default black-on-white theme with a little coloring detail.

  • Dark

This theme is a white-on-black theme.

  • Temi

This theme copies the Temi-color-scheme.

The Temi-theme cannot be customised using a color-scheme.
Changing the color-scheme

Tap the option Color to change the color-scheme (Dark or Default-theme only).

SelectColor

To change the color of the text (and some styling details), select the option Color in the Style-settings of ZBOS Control. This will display a ribbon with available colors at the bottom of the screen.

ColorRibbon

Tap any of the colors to apply it immediately.

To close the color-screen without changing the colors, simply tap outside the ribbon in the app. Additionally, when changing from the Temi-theme to the default or dark theme, the color-scheme will still match the Temi colors.

Toggling the Multi-robot mode

Tap the option 'Simultaneous robot connection mode' to toggle the Multi-robot mode.

This will replace the current output to a custom Dashboard mode. See the chapter Multi-robot mode for more information.

Notifications

The current notifications can be toggled on or off:

Type Notification shown when

Surveillance

A new security-image is registered on the Cloud

Two-way video call

An icon 'Video call' is tapped in the kiosk of the connected robot

Alarm

An alarm-event is triggered
E.g. A new monitoring-event is triggered or a motor is overheating

Clear data

This option will erase all stored files from the app. Make sure backups are available for all stored files (e.g. Kiosk-datasets, compositions, Quick Responses, …​).

Clearing the local database means to discard the stored lists of available data (e.g. kiosk- and survey-datasets, compositions, quick responses, …​) and resets all stored data to the default settings.

Profile

This option will only be shown if the user is connected to the ZBOS Cloud platform. See the chapter [Link robot to Cloud-account] for more information.

Tap the icon to open the settings and then tap the option Profile to show the information for the cloud-account.

AccountProfileDetails

This page is used to:

The option to remove the account is hidden by default and can be shown by swiping the list up.

Removing robots linked to the account

Tap the icon md trash next to a robot to unlink it from the cloud-account.

Removing the account from the Cloud-system

This will erase the account (login-details and stored data) from the ZBOS Cloud system. To prevent the user from accidentally deleting the cloud-account, the user needs to swipe up once the bottom of the modal has been reached to display the delete-button.

Swipe the list up to display the button Remove account in the Profile page. Next, tap the button 'Remove Account'.

RemoveAccountProfile

A browser-window will be shown asking to confirm the permanent deletion of the account.

CloudRemovalConfirmation

Follow the instructions to permanently remove the account from the ZBOS Cloud system.

Logging in or out of the Cloud-system

The final option in the list includes the option to (un-)link from the cloud-profile. See the chapter Connecting to the cloud platform for more information.

Dashboard

The dashboard contains all the elements (widgets) that can be used to directly (or manually) control the robot, from simple text messages and moving the robot with the joystick to launching user-defined compositions.

A default configuration is shown the first time the app is launched, but can easily be customized to include the widgets you need most.

  • On a smartphone, only 2 widgets can be shown in the dashboard at the same time.

  • The widgets available depends on the type of robot that Control is connected to. Widgets that are unsupported by the robot will be disabled in the dashboard-page.

DefaultBlurred

List of available widgets

The following widgets are available for the Dashboard.

This widget is used to send messages and/or commands to the robot:

ChatGadget

This widget is used to start or stop a composition installed on the robot:

CompositionListGadget

This widget is used to start or stop an interaction installed on the robot:

InteractionListGadget

This widget is used to control the video- and audio-feed from and to the robot:

CameraControlsGadget

This widget is used to control the movement of (parts of) the robot:

MovementControlsGadget

This widget will play the quick response stored in ZBOS Control on the robot:

QuickResponsesGadget

This widget will display the video-feed from the robot:

CameraGadget

This widget will display the current map on the robot:

MapGadget

The widget will display the list of available POIs on the current map:

MapListGadget

Collapsing lists

Displayed lists can be collapsed to make more space. Tap the titles of the list-items to show or hide the content.

CollapsedLists

Modifying the dashboard

Tap the icon in the top right corner to edit the layout of the dashboard:

TapPencil

The following elements will be shown:

OverviewDashboardEditorFull
  1. Widgets incompatible with the connected robot will be shown in grey

  2. Active widgets will be shown in green

  3. Inactive widgets will be shown in red

  4. A toolbar is shown in the top-right corner

The incompatible widgets are hidden by default and can be shown by tapping the in the toolbar.

The following options are available for the toolbar:

OverviewDashboardEditor
  1. Tap the icon to show or hide the incompatible widgets

  2. Tap the icon to display useful tooltips on how to use the editor

  3. Tap the icon to display a menu for the dashboard

  4. Tap the icon to return to the dashboard page

  • The incompatible widgets can only be moved in the dashboard, not enabled or disabled until connected to a compatible robot.

  • The icon(s) in the dashboard editor can be dragged in the dashboard-page for easier access.

Hidden widgets

Tap the icon to show widgets incompatible with the current connected device. These widgets will be displayed in grey.

Even though these widgets can be shown, they cannot be enabled or disabled, only relocated.

This feature is most useful when switching between robot-types quite often.

Tap the icon to hide the incompatible widgets.

Dashboard editor tooltips

Tap the icon to display or hide the tooltips for the dashboard editor:

TapTooltip

Dashboard options

Tap the icon to display a menu for the dashboard:

OverviewDashboardMenu
  1. Tap the option 'List' to display a list of currently stored dashboard configurations and open an earlier stored dashboard configuration

  2. Tap the option 'Save' to save the current dashboard configuration

  3. Tap the option 'Save As' to save the current dashboard configuration with a different filename

  4. Tap the option 'Import' to import an exported dashboard configuration

  5. Tap the option 'Export' to export a saved dashboard configuration

  6. Tap the option 'Reset' to create a new dashboard configuration with the default location and settings of the widget(s).

  • The dashboards aren’t stored on the connected robot, only on the device ZBOS Control has been installed on.

  • The button 'Reset' will reset the dashboard configuration to the default settings

Opening a dashboard

Tap the option 'List' to display the stored dashboard configurations:

DashboardList

Tap a dashboard from the list and tap the button 'Open Dashboard' to open the stored dashboard configuration:

TapOpenDashboard
Deleting a dashboard

Tap the option List to display the stored dashboard configurations:

DashboardList

Tap the button md trash to delete the dashboard configuration:

TapDashboardDelete
This will not erase the current dashboard, only the saved configuration. To reset the current dashboard, see Resetting the dashboard.
Saving a dashboard

Tap the option Save in the menu to store the current dashboard configuration:

TapSave
A modal will be shown asking for a name if a new configuration is used.
Saving a duplicate of the dashboard

Tap the option 'Save As' in the menu to store the current dashboard configuration with another filename:

TapSaveAs
Importing a dashboard

Tap the option 'Import' to display a modal asking for the exported dashboard to import:

TapImport
ImportModal

Tap the option 'Select File' to open an explorer window asking for the dashboard(s) to be imported:

TapImportSelect

Select one or more dashboard-file(s) to import and tap the button 'Open' to upload the file(s) to ZBOS Control:

ExplorerImport

Tap the button 'Import' to add the uploaded dashboard configurations to the list:

TapImportImport

A message will be shown stating the dashboards have been successfully imported.

To open (one of) the imported dashboard(s), see Opening a dashboard.
Exporting a dashboard

Tap the option 'Export' to display the list of stored dashboard configurations:

TapExport

Tap the button md download to download the dashboard to the connected device:

TapExportExport

An explorer-window is shown asking for the name and location of the exported dashboard. Enter a valid name and confirm to save the stored dashboard to the connected device.

Resetting the dashboard

Tap the option 'Reset' to reset the dashboard to the default settings:

TapReset
This will also reset the filename.

Editing the widgets

The widgets on the dashboard can be edited in 2 ways, specifically:

  • (Un-)Hiding the widgets

  • Moving the widgets to another location on the grid

Editing

It is NOT possible to alter the size of the widgets. If a column is empty however, the other columns (except for the photo and video-control) will be sized accordingly.

A different layout is used depending on the orientation of the tablet (landscape of portrait).

For your convenience, the md edit icon can be dragged around on the dashboard-page in case it overlays the controls of the widgets.

(Un-)Hiding the widgets

Use the following steps to hide or show widgets on the dashboard.

Step 1 - Tap the icon md edit to open the customization screen.

TapPencil

Step 2 - Tap the widgets to toggle visibility

The widgets marked in RED are disabled and will be hidden, whereas the icons marked in GREEN are enabled and will be shown in the dashboard.

Tap to hide

ActiveTap

Tap to show

InactiveTap

Moving the widgets

Use the following steps to move widgets to another column or row on the Dashboard grid.

Step 1 - Tap the icon md edit to open the customization screen.

TapPencil

Step 2 - Drag the widgets to their new position

In the shown examples, the camera and mapping widgets are relocated.

From:

DragStart

To:

DragEnd

Dashboard before changes:

DragMainStart

Dashboard after changes:

DragMainEnd

  • The left column will always be displayed, even if no elements are shown in the list.

  • The photo column cannot be widened, only moved to a different location on the blueprint.

  • Some widgets may be lost if too many elements are shown in a single column.
    Therefore, it is recommended that only a maximum of 5 widgets are active in the entire dashboard at one time.

Closing the customization

Tap the button in the top right corner to stop customizing the dashboard.

CloseEditing

Chat widget

The chat-screen can be used to:

  • Send messages for the robot to say

  • Send commands for the robot to execute

Overview
  1. Text and speech-options for the message or command

  2. History of sent messages

Commands will not be saved in the history.

Overview

It is highly recommended to set the options for the message before entering the message itself.

The bar at the bottom displays the options for the message to send to the robot:

MessageDetails
  1. Use the Speech-service on the tablet/smartphone to enter the message

  2. Set the output-language of the message

  3. Show or hide the speech-options for the message (e.g. volume, speech speed, …​)

  4. Message to send to the robot

  5. Toggle whether the robot should speak or respond to a voice-command

  6. Set advanced options (e.g. Animated speech)

Using the installed speech-service
  • The example listed uses the Google Assistant voice-service. On iOS devices, the layout may be slightly different.

  • The speech-recognition-app needs to be installed on the smartphone/tablet for the same user as ZBOS Control.

Save this step for last. Set the other options for the message first, especially the language.

Tap the icon to open an overlay of the voice-recognition app:

TapMicrophone

When the modal is shown, state the message for the robot to repeat or the voice-command for the robot to execute:

GoogleSpeechDialogModal

Once the text has been processed by the speech-service, the content will be entered in the message-field:

MessageEntered

Tap the icon md send to send the message/command to the robot.

The speech-recognition will use the selected language for the message to interpret the speech. Additionally, make sure the requirements for the speech-recognition-app are met (i.e. access to internet, access to microphone, …​).
Set the language for the message
This setting will also be used by the speech-recognition service.

Tap the language-field in the message-bar to display the language installed on the robot:

TapLanguage

Tap the language for the message and tap the option 'Accept' to apply the changes:

LanguageOptions

The following limitations apply to the languages:

  • The language will always be displayed as 2 letters in the toolbar.

  • The list of available languages is retrieved from the currently connected robot.

Setting the options for the speech

Tap the icon to display the options for the message:

TapSpeechOptions

Drag the slider(s) for a setting(1) to change the value and tap the icon (2) again to close the options:

OutputSettings
  • Changing the volume for a message will change the overall volume set on the robot.

  • Only the options compatible with the currently connected robot will be shown.

  • Changing the options for speech speed and voice-pitch will be applied for every new sent message.

Entering the content of the message
It is highly recommended to set the type of message to send to the robot beforehand (i.e. message or command).

Tap the selected message-field at the bottom of the screen to enter a message or command into the text-field.

TapMessage

Enter the message or command to send to the robot:

EnteringMessage

Tap the (now available) icon md send to send the message/command to the robot.

  • This will change the option for setting the type of message (SendSpeech or SendCommand) to sending a message (md send)

  • Tap the icon in the selected message-field to remove the message from the text-field.

Alternatively, a speech-to-text service can be used to enter the content of the message. See Using the installed speech-service for more information.

Sending the message to the robot

After entering the message to send (either using the keyboard or using the speech-service installed on the device), the icon SendMessage will be shown.

Tap the icon to send the message or command to the robot.

TapSend

The sent message will now be stored in the history pane.

Changing the type of message
These options will only be shown if the message-field is empty.

Tap the option SendSpeech (or SendCommand) to display the available message-types:

TapMessageType

Select the action for the robot to take and tap the option 'Accept' to apply the changes.

TapMessageTypeModal

This will change the icon in the message-bar to match the type of message sent to the robot.

Type Icon shown Explanation

Say

SendSpeech

The robot will state the entered message using the entered speech-options

Execute

SendCommand

The robot will interpret the sent message as a voice-command

Execution options

Tap the button to display a list of available animations the robot can show.

Animated speech
Animated speech will only be executed if the connected robot supports this option.

Another option to animate the robot while speaking is to enable (or disable) the option 'Animated speech'.

AnimatedSpeech

Tap the option 'Animated speech' to enable or disable this option.

Tap outside the shown popup to close the modal.

History of messages

A list of recently sent messages is shown. These messages can be resent to the robot, stored as a Quick response or deleted from the history. It is not possible to edit the messages directly.

To edit the message, either send a new message with the new settings or store the message as a Quick response and edit the new quick response.

Resend a message to the robot

Tap a message in the history to resend it once more to the robot.

RepeatMessage

The robot will then play it back using the set speech-properties (voice pitch, volume, …​).

Storing a message as a Quick response

Swipe the message to the left to show the advanced options for the message.

OpenMessageOptions
The options can only be shown for one message at a time.

To close the options again, swipe the message to the right.

Tap the option Add to Quick Responses to store the message as a Quick Response.

SaveMessage

This will show a popup asking for a title and category for the Quick Response. For more information on the quick response(s), see the chapter Editing the quick response.

Removing the message

Swipe the message to the left to show the advanced options for the message.

DeleteMessage

Tap the option md trash to delete the message from the list.

Composition list widget

This component has been designed to allow the user to start compositions directly from the dashboard. Additionally, the number of times the composition can be played can be edited as well.

The following options are shown for this component:

ListDetails
  1. Filter the list of compositions

  2. Sort the list of compositions

  3. Play or edit a composition

Only the locally stored compositions (i.e. stored in the ZBOS Control app) will be shown, not those stored on the connected robot.

Filtering the list of compositions

The list can be filtered by entering a search-term(1) or applying a filter(2) to the list.

FilterCompositions
  • Entering a search-term in the field

Enter a search-term in the field to search for the name of the composition.

TapSearch

To remove the search-term, tap the icon in the search-field or erase the current searched term.

The icon will only be shown when editing the search-field.
  • Filter by category or language

Tap the icon md funnel to display the filter-options for the list:

TapFilter

A modal will be shown with the available options for the filter:

FilterOptions

Tap the option to 'Unselect all'(1) to unselect all categories or tap one of the options(2) in the fields below to toggle the display of compositions for that category.

Tap one of the options in the list to toggle the display of the category or tap the button 'Unselect all' to toggle all selected options in the selected section off.

Tap the icon (3) in the top-right of the modal to apply the changes to the list.

The option 'Unselect all' will only be shown once all options in a section are checked. Otherwise, the option 'Select all' will be shown.

Sort the list of compositions

Tap one the shown properties of the compositions (e.g. name) to sort the list in ascending or descending order.

SortCompositions
The sorting will be applied on top of the active search or filter.

Composition

The compositions in the list have the following properties while not playing

CompositionDetails
  1. Tap a composition to play it on the robot

  2. Edit the number of times the composition should play

Playing a composition

Tap a composition to start playing it on the connected robot.

TapComposition
Once the composition is playing, the buttons next to the composition will change to display pause- and stop-buttons.
Editing the settings of the composition

Tap the button md edit next to a composition to edit the composition.

TapEdit

The following options are available for the composition:

PlaySettings
  1. Toggle the option 'Can be stopped' on to allow the end-user to stop the composition on the robot

  2. Toggle the option 'Infinite' to loop the composition endlessly

  3. Enter a specific number of times the composition should play

  4. Tap the option 'Save composition settings' to save the settings for the composition

Saving the changes will only be stored locally. To save the changes for a composition on the robot, use the Simple/Advanced composer-page.

For more information on the settings for a composition, see the manual for the composer

Pausing or resuming the composition

The following options are shown if a composition is already playing:

CompositionDetails Playing
  1. Tap the button 'Pause' to pause the composition

  2. Tap the button 'Stop' to stop the currently playing composition

Pausing a composition

Tap the button 'Pause' to pause the composition:

TapPause
  • Don’t pause a composition while a video is playing. This will stop the composition.

  • If a composition is paused while the robot is moving, when resuming the composition the robot will continue to move.

  • Don’t move the robot by hand while the composition is paused. This may cause the robot to not recognize its current position properly, thereby causing the movement of James to POI’s to be incorrect.

This will change the pause-button into a play-button.
Resuming a paused composition

Tap the button 'Play' to resume the paused composition:

TapResume
In some cases, the last played block will be repeated (e.g. Multimedia or speech), depending on where the composition was paused previously.

Stopping a composition

Tap the stop-button to stop the running composition.

TapStop
This will also stop the robot from moving (if it was moving to a POI/Location on the map).

Interaction list widget

This option will only be shown if the connected robot has interactions installed on it. On a James for example, this option will be hidden from the Dashboard and the tab will not be shown in the Steering-page.

The interaction widget contains options for starting simple actions on the robot. These interactions can be used to entertain guests or make the robot (seem) more human.

ListDetails

The following options are available for this list:

  1. Filter the list

  2. Sort the list

  3. Use the interaction

When executing interactions, make sure the robot has plenty of free space to move the limbs.

Filter the list

The list can be shortened by entering a search-term(1) or by applying a filter(2).

SearchBar

Entering a search-term in the field

Tap the search-field to enter a term in the field:

TapSearch

After entering a search-term, the list will be updated immediately.

To remove the search-term, tap the icon in the right of the search-field or erase the current searched term in the search-field.

TapCloseSearch
The icon will only be shown when editing the search-field.

Filter by type of interaction

This section is highly dependent on the type of robot ZBOS Control has been connected to. For this section in the manual, the example of a Zora was used.

Tap the icon FilterList next to the search-bar to show the options for the filter.

TapFilter

A modal will be shown with available options:

The available options depend on the type of robot ZBOS Control has been connected to.
FilterListOptions

The list of Interactions will be separated into different sections, based on the connected robot. Each section has the following properties:

FilterCategoryOptions
  1. Tap the first option to select or un-select all sections in the list

  2. Tap an element in the category to toggle showing the animation with the selected property.

The option 'Unselect all' will only be shown once all category-elements have been selected. Otherwise, the option 'Select all' will be shown instead.

Apply the filter

Tap the icon to apply the filter to the list.

TapFilterCheck

Sort the list of POIs

Tap on a property of the POIs (name, type, map) to sort the list by these terms in ascending or descending order.

TapSort
The sorting will be applied on top of the active search or filter.

Using an interaction

The following details will be shown for each interaction:

InteractionOptions
  1. Tap the Star-icon to (un-)mark an interaction as a favorite

  2. Tap an interaction to make the robot start playing

  3. Tap the stop-button to stop the currently playing interaction

Marking an interaction as a favorite

Tap the next to a Quick Response to (un-)mark them as favorites.

TapStar
md star shows the response is marked as favorite, whereas md star outline shows the response isn’t a favorite.
Starting an interaction

Tap an interaction to start it.

TapInteraction
Stopping an interaction

Tap the stop-button next to an interaction to stop it.

TapStop
The stop-button will only be shown if an interaction is already in progress.

Camera controls widget

The camera-control can be used to take a picture or toggle the audio-stream from the smartphone/tablet to the robot.

ControlList
  1. Display a miniature camera-window

  2. Start a two-way-video-call to the connected robot if main camera-feed is selected

  3. Store a screenshot of the video-feed on the tablet/smartphone

  4. Toggle the audio-stream from the smartphone/tablet to the robot

Display the camera-window

Tap the icon at the top to display the camera-feed from the robot in a separate, smaller, window that can be dragged across the screen.

TapCameraView

The mini-camera-view will now be shown in the top left corner of ZBOS Control, with the following operations:

WindowList
  1. Modify the mini-window

  2. Change the feed from the robot

  3. Change the output on the tablet/smartphone

Modifying the camera-window

The toolbar on the top allow the user to use the following options:

WindowOperations
  1. Enlarge the window

  2. Shrink the window

  3. Drag the window

  4. Close the window

Enlarge the window
The maximum size of the window depends on the orientation (portrait/landscape) of the smartphone/tablet.

Tap the icon to enlarge the camera-window.

TapEnlarge
Shrink the window

Tap the icon to shrink the camera-window

TapShrink
Drag the window

Tap the top-bar of the window to drag the window around in ZBOS Control:

DragWindow
Close the window

Tap the icon to close the camera-window

TapClose
Modifying the video-feed

The following options are available for the feed sent by the robot:

FeedOptions
  1. Change the feed from the robot

  2. Change the options of the feed

Change the video-source

Tap the feed-source to display a modal with the available feeds:

TapFeed

Tap the new feed in the shown modal to select it and tap the button OK to display the selected feed:

TapFeedList
Change the options for the selected source

Tap the options for the feed to display a list of available options for the feed:

TapFeedOptions

Tap the options to change the setting and tap the icon to apply the change on the input-feed:

TapFeedOptionsList
Changing the options for the output
To display the toolbar, tap the main video-window in the camera-section. After some time (about 2 seconds), this toolbar will be hidden from the video-window.

The options for the output of the feed on the tablet/smartphone will be shown in the toolbar below the main feed.

OutputDetails
Pause the feed

Tap the icon in the toolbar of the video to pause the feed:

TapPause
This will change the icon to .
Resuming the feed
This option will only be shown if the current feed is paused.

Tap the icon in the toolbar of the video to view the live feed again:

TapResume
Change volume
Changing this volume will also change the audio from the smartphone/tablet to the robot.

Drag the slider in the volume-section in the toolbar of the video to change the volume of the video:

DragVolume
Additionally, the volume-settings of the tablet/smartphone can also be changed to correct the audio-output. See the manual for the tablet/smartphone on how to change the volume in Android/iOS.
Display in full screen

Tap the button md expand in the toolbar of the video to show the feed in full-screen:

TapFullScreen
Tapping this option will change the feed to full-screen on the tablet/smartphone. The option md expand will be changed to md contract.
Close full-screen
This option will only be shown if the current feed is in full-screen.

Tap the button md contract in the toolbar of the full-screen view to close the full-screen:

TapFullScreenExit

Start a two-way-video-call

This button will only be shown if the main camera feed has been selected.

Tap the button md people to open a video-call feed with the robot:

TapVideoCall
Enable the option for the audio-feed on the robot and smartphone before initiating the video-call.

Store a screenshot of the video-feed

Tap the icon md button to store a still of the video-feed:

TapScreenshot

Toggle the audio-stream

Tap the icon or the icon to toggle the audio from the tablet/smartphone to the robot on or off:

TapAudio

Movement widget

The movement controls were designed to move the robot by remote control. These can be displayed as either digital or as analog controls.

Overview
  1. Toggle between digital and analog controls

  2. Move the robot using the controls

Toggling control types

Tap the icon ControlToggleFilled to switch between the digital and analog controls.

Analog Digital
AnalogMovementControls
DigitalControls
If a map has been defined with walls, the robot won’t move past these walls.
Analog Controls

The analog control uses the same principle as a joystick-controller. Move the inner circle out of the center position to make the robot move. The further away from the center-point the inner circle is, the faster the robot will move.

To make the movement feel as natural as possible, the movement has been split into different control-areas.

MovementQuadrants
  1. The robot will move forward in all directions

  2. The robot will move backwards in slight angles

  3. The robot will ONLY turn counterclockwise

  4. The robot will ONLY turn clockwise

Two ways are available to move the joystick, specifically:

AnalogMovementUsage
  • Drag the middle circle in the direction the robot should move (forward and to the left for instance).

  • Tap (and hold) anywhere on the outer circle. This will place the inner circle in the tapped position.

Digital Controls

Tap + hold an icon to keep the robot moving in the specified direction.

DigitalControls

Tap the stop button in the center of the control to stop the robot.

The controls are as seen from the robot. This implies that left will turn the robot counter-clockwise, while right will turn the robot clockwise.

Slide the control at the bottom to the left to slow the robot down and vice versa.

SliderControl

Head Controls

This control will only be shown if the head of the connected robot can move.

This control has been designed to move the head of the robot around.

HeadOverview
  1. Toggle between analog and digital controls

  2. Move the head

  3. Toggle fixed/temporary position

Toggling control-types

Tap the icon ControlToggleFilled to switch between the digital and analog controls.

Digital Analog
DigitalHeadControls
AnalogHeadControls

Moving the head

Not all movements are available on all robots. For example, the head of a (custom) James can only move up or down.

Use the main controls to move the head.

Digital Controls
Not all digital controls may move the head of the robot. Some robot will only respond to moving up and down for instance.

Tap + hold an icon to move the head of the robot in the specified direction.

DigitalHeadControls

Tap the stop button in the center of the control to reset the head of the robot to the default position.

The controls are as seen from the robot. This implies that left will turn the head counter-clockwise, while right will turn the head clockwise.
Analog controls

The analog control uses the same principle as a joystick-controller. Move the inner circle from of the middle to the edge to make the head of the robot move. The further away from the center of the inner circle, the faster the head will move.

AnalogHeadControls

To move the head of the robot up or down, simply tilt the control to the top or bottom half of the control to move the head.

Not all movements are available for all robot-types. For example, the head of a (custom) James can only move up or down.

Toggle locked position

The head of the robot can remain in place () after the movement or return to the center-position ( ). In the top-right corner of the control, an (un-)lock-icon is shown. This icon indicates if the head will be locked in place after the movement, or if the head will return to the default (center) position.

Tap the lock-icon to toggle whether the head should remain in the new position after moving it or return to the default position.

TapLock
Changing from a locked to unlocked state will reset the robot’s head position back to the default position (usually dead centre).

Quick responses widget

In this component, the user can play or modify the quick responses that the robot will say.

ListDetails
  1. Filter the list of responses

  2. Sort the list of responses

  3. Details of the response

Filtering the list of responses

The list can be filtered by entering a search-term in the list or applying a filter to the list.

SearchTerm
  • Entering a search-term in the field

Enter a search-term in the field (1) to search the list for Quick Responses with the search-term in the name of the Quick Response.

To remove the search-term, tap the icon (2) in the right of the search-field or erase the current searched term.

The icon will only be shown when editing the search-field.
  • Filter by category or language

Tap the icon md funnel (3) to display the filter-options for the list:

TapFilter

A modal will be shown with the available options for the filter:

FilterOptions

The list can be filtered to show or hide categories(1) or languages(2).

Tap one of the options in the list to toggle the display of the category or tap the button 'Unselect all' to toggle all selected options in the selected section off.

Tap the icon in the top-right of the modal to apply the changes to the list.

  • The languages shown in the list depend on the connected robot.

  • The option 'Unselect all' will only be shown once all options in a section are checked. Otherwise, the option 'Select all' will be shown.

Sort the list of quick responses

Tap one the shown properties of the quick response (name, language, favorite, recent) to sort the list in ascending or descending order.

SortResponses
The sorting will be applied on top of the active search or filter.

Quick response

For each quick responses, the following operations are available:

QuickResponseDetails
  1. Mark or unmark a response as favorite

  2. Play the selected quick response on the robot

  3. Edit the quick response

  4. Delete the quick response

Marking a Quick Response as a favorite

Tap the next to a Quick Response to (un-)mark them as favorites.

TapStar
md star shows the response is marked as favorite, whereas md star outline shows the response isn’t a favorite.
Play the quick response on the robot

Tap anywhere in the indicated area (close to the name of the quick response) to play the quick response.

TapResponse
Editing the quick response

Tap the md edit icon to edit the quick response.

TapEdit

This will open a modal with the information of the quick response:

EditModal
  1. The current category for the response

  2. The current name for the response

  3. The current language for the response

  4. The current content for the response

  5. The current speech-options

  6. Save-button

Editing the category

The category-section contains the following elements:

CategorySection
  1. Select a category

  2. Create a new category

  3. Edit the current category

  4. Delete the current category

The Edit- and Delete-buttons will be disabled for the Default category.
Selecting a category

Tap the field next to the category to show a list of available categories.

TapCategory

Tap a category from the list and tap the button 'OK' to select the new category.

CategorySelect
Create a new category

Tap the button Add new category to open a modal asking for the name of the category.

TapAddCategory

Enter a valid name for the category (1) and tap the Save button (2) to add the new category.

AddCategory
The new category will automatically be selected.
Editing a category
The edit-button will be disabled for the currently selected category.

Tap the edit-button to open the settings for the category.

TapEditCategory

Enter a new name for the category (1) and tap the option 'Save' to change the name of the category.

EditCategory
Delete a category
This will also remove all quick responses belonging to the category.
The delete-button will be disabled for the currently selected category.

Tap the delete-button next to the category to remove the category.

TapDeleteCategory

This will show a modal asking to confirm the deletion of the category.

ConfirmDeleteCategory

Tap the Yes-button to remove the category and its quick responses.

Setting the name of the response

Tap the name of the response to edit the name of the response.

TapName

Enter a new name for the response and tap outside the name-field to apply the change.

Setting the language
ZBOS Control needs to be connected to a robot before a language can be selected.

Tap the language-selection to display a list of the languages installed on the robot.

TapLanguage

Select the new language in the modal (1) and tap the button OK to set the new language for the quick response.

EditLanguage
The current speech-language will automatically be selected when adding a new quick response.
Setting the content
The content for the quick response will not be displayed in the list, only the name.

Tap the content-section to set the content for the quick response.

TapContent

Tap outside the content-modal to save the changes.

Setting the options for the speech

Tap the field 'Options' to display or hide the speech-options for the quick response.

TapOptions

Drag any of the sliders to a new value to change the options for the speech options.

EditSpeechSettings
  1. Volume (from 0-100)

  2. Speech speed (from 50-200)

  3. Voice pitch (from 50-200)

The list of available options depends on the connected robot.
Save the changes

Tap the button 'Save Quick Response' to save the changes for the quick response.

TapSave
Delete a quick response

Tap the icon md trash next to a quick response to delete the quick response.

TapDelete

Tap the option 'OK' in the confirmation-modal to permanently delete the quick response.

ConfirmDelete

Camera widget

Only one feed from the robot can be active at a time. Older connections will be disconnected and requires the user to disconnect and re-connect the feed to view the camera-feed once more.

The camera-screen displays (one of the) camera-feeds on the robot.

Feed disabled Feed Enabled
CameraOff
CameraOn

Start viewing the camera feed

This option will only be shown if the video-feed isn’t enabled.

Tap the md videocam-button to view the camera-feed of the robot.

TapCameraEnable

Stop viewing the camera feed

This option will only be shown if the camera-feed is enabled.

Tap the md videocam-button in the top-right corner of the modal to stop viewing the camera-feed of the robot.

TapCameraDisable

Modifying the camera-view

The following options are available for the camera-window:

CameraDetails
  1. Options for the feed on the robot

  2. View of the selected feed

  3. Options for the output in ZBOS Control

Options for the feed

The following options are available for the feed sent from the robot:

FeedOptionsDetails
  1. Disable the feed (see previous chapter)

  2. Currently displayed feed

  3. Options for the selected feed

Change the source of the feed
When switching feed-sources, the feed-view needs to refresh.
This option is only available for robots that contain multiple feed-sources (e.g. main camera and/or tablet-feed).

Tap the selected feed with the icon to display a modal with the available feeds on the robot.

TapFeed

A modal will be shown with the available input-feeds on the robot.

FeedList

Tap a source to select it and tap the button 'OK' to view the selected feed.

TapFeedSource
Change the options for the feed

Tap the icon in the camera-screen to display additional the options for the camera-feed:

TapFeedOptions

A modal will be shown with the options for the feed sent by the robot

FeedOptionsDetails

Then, tap the setting Send stream audio to toggle the audio stream from the robot to tablet/smartphone on or off.

TapFeedOptionsModal
  • Enabling this option on will disable the voice recognition on the robot.

  • Changing the option will cause the feed to re-connect.

Camera-view

The selected video-feed will be shown in the main section of the feed:

CameraFeedFocus
Options for the output
To display the toolbar, tap the main video-window in the camera-section. After some time (about 2 seconds), this toolbar will be hidden from the video-window.

The options for the output of the feed on the tablet/smartphone will be shown in the toolbar below the main feed.

OutputDetails
Pause the feed

Tap the icon in the toolbar of the video to pause the feed:

TapPause
This will change the icon to .
Resuming the feed
This option will only be shown if the current feed is paused.

Tap the icon in the toolbar of the video to view the live feed again:

TapResume
Change volume
Changing this volume will also change the audio from the smartphone/tablet to the robot.

Drag the slider in the volume-section in the toolbar of the video to change the volume of the video:

DragVolume
Additionally, the volume-settings of the tablet/smartphone can also be changed to correct the audio-output. See the manual for the tablet/smartphone on how to change the volume in Android/iOS.
Display in full screen

Tap the button md expand in the toolbar of the video to show the feed in full-screen:

TapFullScreen
Tapping this option will change the feed to full-screen on the tablet/smartphone. The option md expand will be changed to md contract.
Close full-screen
This option will only be shown if the current feed is in full-screen.

Tap the button md contract in the toolbar of the full-screen view to close the full-screen:

TapFullScreenExit

Map widget

The map widget of the Dashboard has been designed to consult the map, it cannot be used to modify the content of the map or move the robot. However, it can be used to stop the robot from moving.

To edit the map, see the chapter Localisation and mapping.

The following elements are available after connecting the map-widget to the robot:

MapDetails
  1. Connect or disconnect the map-widget from the robot

  2. View of the map

  3. Stop the robot moving

  4. Rotate the map

Connecting the map widget to the robot

After connecting to a robot, the widget is still disconnected from the robot.

Tap the icon md map green to connect the map-widget to the robot:

TapOpenMap

Tap the icon md map red in the top-left corner of the widget to disconnect the map-view:

TapDisconnect
Only the currently loaded map is shown in this widget.

Track the robot’s position

On connecting to the robot, the following page is shown:

MapView

In this view, the current map is shown with the virtual walls, poi’s and the robot’s current location. For more information on the map, see the chapter Localisation and mapping.

If the robot is moving, the route will be shown in a blue dotted line.

Stop James from moving

Tap the Stop-button in the bottom-right of the widget to stop the robot moving.

TapStop
This also stops compositions that are in progress.

Rotate the map

Drag the slider of the rotation-slider at the bottom of the map-view to rotate the map.

DragRotation

Map list widget

ZBOS Control needs to be connected to a robot before any POIs will be shown in the list.

This component of the dashboard displays the list of POIs for the current map.

FullList

The widget can be used to:

  1. Filter the list of POIs

  2. Sort the list of POIs

  3. Move to or modify a POI

  4. Add the current location as a POI

Filter the list of POIs

Only the POIs for the current map will be shown in this list.

The user can modify the display of the list by entering a search-term or filtering the list down based on the type of POI.

Entering a search-term in the field

Enter a search-term to search the list for POIs with the search-term in the name of the POI.

SearchTerm

To remove the search-term, tap the icon in the right of the search-field or erase the current searched term in the search-field.

The icon will only be shown when editing the search-field.

Filter by type of POI

When starting ZBOS Control, only the POIs of the currently loaded map are shown.

Tap the icon FilterList next to the search-bar for the POIs to show the options on which the list of POI’s can be filtered.

FilterList

In the shown modal, the list can be filtered on type of POI.

FilterListOptions
  1. Tap the first option to select or un-select all POI-types

  2. Tap a category to toggle showing this type of POI in the list

  3. Tap the icon to apply the new setting

The option 'Unselect all' will only be shown once all POI-types have been selected. Otherwise, the option 'Select all' will be shown instead.

Sort the list of POIs

SortBy

Tap on a property of the POIs (name, type, map) to sort the list by these terms in ascending or descending order.

The sorting will be applied on top of the active search or filter.

Using a POI from the list

The following details will be shown for a single POI:

POIOperations
  1. Tap the POI to move the robot to the POI

  2. Tap the Stop-button to stop the robot

  3. Tap the Edit-button to edit the settings of the POI

  4. Tap the Delete-button to remove the POI (Confirmation required)

Moving a robot to a POI

Tap the name of a POI to have to robot move to the selected location.

TapName
If obstacles are detected or if the selected POI is obstructed by virtual walls or an unmapped part, the robot will not move.
Stop the robot moving

To stop the robot moving, tap any of the -buttons in the list.

TapStop
Edit the settings of the POI

Tap the button md edit next to a POI to edit its settings.

TapEdit

A modal will be shown with the current settings for the POI:

POISettings
  1. Name of the POI

  2. Type of POI

  3. Additional settings (Interactive POI only)

Tap the button 'Update POI to the current position' (4) to save the POI in the current location on the map with the new settings.

Tap the button 'Update POI' to apply the changes to the POI in its current location.

To undo the changes, tap outside the modal or tap the icon in the top-right corner of the edit-modal.
Deleting a POI

Tap the button md trash to remove a POI.

TapDelete

This will display a modal asking to confirm deleting the POI:

ConfirmDelete

Tap the option 'Yes' to remove the POI.

Tap the option 'No' or outside the modal to keep the POI.

Add current location as a POI

Tap the button to add the current position of the robot to the map as a POI.

TapAdd

A modal asking for the details of the POI is shown:

POIAdd
  1. Enter a name for the POI

  2. Select the type of POI to set (Additional options will be shown for Interactive POI).

  3. Tap the button 'Add POI' to add the POI to the map

  • The option 'Add POI' will be disabled until a value is entered for the name.

  • Tap outside the modal or the icon in the top-right corner of the modal to close the modal without adding the POI.

Steering

Introduction

The steering-page has been designed to allow more fine-tuned control of the robot compared to the dashboard-page. Since the dashboard is limited in size, (some of) the functionality may be difficult or downright impossible to fine-tune, especially on small screens.

The steering-page has been designed to display the controls in a more detailed format, allowing users to use more delicate controls if needed.

The steering-page can be used to move the robot, make the robot talk and view the camera of the robot.

Opening the steering-page

Tap the ZBOSControlLogo-button in the top-left corner of ZBOS Control to open the menu.

MenuList

Tap the option Steering to display the steering-page

Operation

Selecting the option in the menu displays the following:

MovementPane
The head-controls will only be shown if the connected robot supports it.

At the bottom of the page, 4 tabs are available:

Movement

The movement-tab is selected by default every time the steering-page is shown. This page is used to:

  • Move the robot on a map

  • Move the limbs (incl. head) of the robot (if applicable)

If the controls are shown in an up-down configuration while the tablet is oriented as a landscape, tilt the tablet so the tablet will display ZBOS Control in a portrait orientation and then tilt is back to display the landscape orientation. The controls should now be shown side-by-side.

Movement Controls

The movement controls were designed to move the robot by remote control. These can be displayed as either digital or as analog controls.

Overview
  1. Toggle between digital and analog controls

  2. Move the robot using the controls

Toggling control-types

Tap the icon ControlToggleFilled to switch between the digital and analog controls.

Analog Digital
AnalogMovementControls
DigitalControls
If a map has been defined with walls, the robot won’t move past these walls.
Analog Controls

The analog control uses the same principle as a joystick-controller. Move the inner circle out of the center position to make the robot move. The further away from the center-point the inner circle is, the faster the robot will move.

To make the movement feel as natural as possible, the movement has been split into different control-areas.

MovementQuadrants
  1. The robot will move forward in all directions

  2. The robot will move backwards in slight angles

  3. The robot will ONLY turn counterclockwise

  4. The robot will ONLY turn clockwise

Two ways are available to move the joystick, specifically:

AnalogMovementUsage
  • Drag the middle circle in the direction the robot should move (forward and to the left for instance).

  • Tap (and hold) anywhere on the outer circle. This will place the inner circle in the tapped position.

Digital Controls

Tap + hold an icon to keep the robot moving in the specified direction.

DigitalControls

Tap the center-stop-button to stop the robot.

The controls are as seen from the robot. This implies that left will turn the robot counter-clockwise, while right will turn the robot clockwise.

Slide the control at the bottom to the left to slow the robot down and vice versa.

SliderControl

Head Controls

This control will only be shown if the head of the connected robot can move.

This control has been designed to move the head of the robot around.

HeadOverview
  1. Toggle between analog and digital controls

  2. Move the head

  3. Toggle fixed/temporary position

Toggling control-types

Tap the icon ControlToggleFilled to switch between the digital and analog controls.

Digital Analog
DigitalHeadControls
AnalogHeadControls
Moving the head
Not all movements are available on all robots. For example, the head of a (custom) James can only move up or down.

Use the main controls to move the head.

Digital Controls
Not all digital controls may move the head of the robot. Some robot will only respond to moving up and down for instance.

Tap + hold an icon to move the head of the robot in the specified direction.

DigitalHeadControls

Tap the center-stop-button to reset the head of the robot to the center.

The controls are as seen from the robot. This implies that left will turn the head counter-clockwise, while right will turn the head clockwise.
Analog controls

The analog control uses the same principle as a joystick-controller. Move the inner circle out of the center position to make the head of the robot move. The further away from the center-point the inner circle is, the faster the head will move.

AnalogHeadControls

To move the head of the robot up or down, simply tilt the control to the top or bottom half of the control to move the head.

Not all movements are available for all robot-types. For example, the head of a (custom) James can only move up or down.
Toggle locked position

The head of the robot can remain in place () after the movement or return to the center-position ( ). In the top-right corner of the control, an (un-)lock-icon is shown. This icon indicates if the head will be locked in place after the movement, or if the head will return to the default (center) position.

Tap the lock-icon to toggle whether the head should remain in the new position after moving it or return to the default position.

TapLock
Changing from a locked to unlocked state will reset the robot’s head position back to the default position (usually dead centre).
Switching layout
This feature is only available if the robot supports both head- and movement-controls.

Tap the icon SwapMovementControls to switch the position of the head- and movement-controls in the steering-page.

TapSwitchPosition

Speech

The speech-tab has 2 components, specifically the Say and Quick Reponses pages. Tap either of the options at the top of the page to show their components.

By default, the tab Say will be selected.

SpeechPane

The Say-section is used to:

  • Make the robot say something

  • Repeat an earlier message

  • Store or delete earlier messages

The Quick Responses-section is used to:

  • Store a collection of messages

  • Edit the Quick responses

  • Delete the Quick Responses

The Quick Responses created in the steering-page will be shown in the dashboard widget as well.

Chat

The chat-screen can be used to:

  • Send messages for the robot to say

  • Send commands for the robot to execute

Overview
  1. Text and speech-options for the message or command

  2. History of sent messages

Commands will not be saved in the history.
Overview
It is highly recommended to set the options for the message before entering the message itself.

The bar at the bottom displays the options for the message to send to the robot:

MessageDetails
  1. Use the Speech-service on the tablet/smartphone to enter the message

  2. Set the output-language of the message

  3. Show or hide the speech-options for the message (e.g. volume, speech speed, …​)

  4. Message to send to the robot

  5. Toggle whether the robot should speak or respond to a voice-command

  6. Set advanced options (e.g. Animated speech)

Using the installed speech-service
  • The example listed uses the Google Assistant voice-service. On iOS devices, the layout may be slightly different.

  • The speech-recognition-app needs to be installed on the smartphone/tablet for the same user as ZBOS Control.

Tap the icon to open an overlay of the voice-recognition app:

TapMicrophone

When the modal is shown, state the message for the robot to repeat or the voice-command for the robot to execute:

GoogleSpeechDialogModal

Once the text has been processed by the speech-service, the content will be entered in the message-field:

MessageEntered

Tap the icon md send to send the message/command to the robot.

The speech-recognition will use the selected language for the message to interpret the speech. Additionally, make sure the requirements for the speech-recognition-app are met (i.e. access to internet, access to microphone, …​).
Set the language for the message
This setting will also be used by the speech-recognition service.

Tap the language-field in the message-bar to display the language installed on the robot:

TapLanguage

Tap the language for the message and tap the option 'Accept' to apply the changes:

LanguageOptions

The following contraints apply to the languages:

  • The language will always be displayed as 2 letters in the toolbar.

  • The list of available languages is retrieved from the currently connected robot.

Setting the options for the speech

Tap the icon to display the options for the message:

TapSpeechOptions

Drag the slider(s) for a setting(1) to change the value and tap the icon (2) again to close the options:

OutputSettings
  • Changing the volume for a message will change the overall volume set on the robot.

  • Only the options compatible with the currently connected robot will be shown.

  • Changing the options for speech speed and voice-pitch will be applied for every new sent message.

Entering the content of the message
It is highly recommended to set the type of message to send to the robot beforehand (i.e. message or command).

Tap the selected message-field at the bottom of the screen to enter a message or command into the text-field.

TapMessage

Enter the message or command to send to the robot:

EnteringMessage

Tap the (now available) icon md send to send the message/command to the robot.

  • This will change the option for setting the type of message (SendSpeech or SendCommand) to sending a message (md send)

  • Tap the icon in the selected message-field to remove the message from the text-field.

Alternatively, a speech-to-text service can be used to enter the content of the message. See Using the installed speech-service for more information.

Sending the message to the robot

After entering the message to send (either using the keyboard or using the speech-service installed on the device), the icon SendMessage will be shown.

Tap the icon to send the message or command to the robot.

TapSend

The sent message will now be stored in the history.

Changing the type of message
These options will only be shown if the message-field is empty.

Tap the option SendSpeech (or SendCommand) to display the available message-types:

TapMessageType

Select the action for the robot to take and tap the option 'Accept' to apply the changes.

TapMessageTypeModal

This will change the icon in the message-bar to match the type of message sent to the robot.

Type Icon shown Explanation

Say

SendSpeech

The robot will state the entered message using the entered speech-options

Execute

SendCommand

The robot will interpret the sent message as a voice-command

Execution options

Tap the button to display a list of available animations the robot can show.

Animated speech
Animated speech will only be executed if the connected robot supports this option.

Another option to animate the robot while speaking is to enable (or disable) the option 'Animated speech'.

AnimatedSpeech

Tap the option 'Animated speech' to enable or disable this option.

Tap outside the shown popup to close the modal.

History of messages

A list of recently sent messages is shown. These messages can be resent to the robot, stored as a Quick response or deleted from the history. It is not possible to edit the messages directly.

To edit the message, either send a new message with the new settings or store the message as a Quick response and edit the new quick response.

Resend a message to the robot

Tap a message in the history to resend it once more to the robot.

RepeatMessage

The robot will then play it back using the set speech-properties (voice pitch, volume, …​).

Storing a message as a Quick response

Swipe the message to the left to show the advanced options for the message.

OpenMessageOptions
The options can only be shown for one message at a time.

To close the options again, swipe the message to the right.

Tap the option Add to Quick Responses to store the message as a Quick Response.

SaveMessage

This will show a popup asking for a title and category for the Quick Response. For more information on the quick response(s), see the chapter Editing the quick response.

Removing the message

Swipe the message to the left to show the advanced options for the message.

DeleteMessage

Tap the option md trash to delete the message from the list.

List of Quick Responses

In this component, the user can play or modify the quick responses that the robot will say.

ListDetails Steering
  1. Filter the list of responses

  2. Sort the list of responses

  3. Details of the response

  4. Add new response

Filtering the list of responses

The list can be filtered by entering a search-term in the list or applying a filter to the list.

SearchTerm
  • Entering a search-term in the field

Enter a search-term in the field (1) to search the list for Quick Responses with the search-term in the name of the Quick Response.

To remove the search-term, tap the icon (2) in the right of the search-field or erase the current searched term.

The icon will only be shown when editing the search-field.
  • Filter by category or language

Tap the icon md funnel (3) to display the filter-options for the list:

TapFilter

A modal will be shown with the available options for the filter:

FilterOptions

The list can be filtered to show or hide categories(1) or languages(2).

Tap one of the options in the list to toggle the display of the category or tap the button 'Unselect all' to toggle all selected options in the selected section off.

Tap the icon in the top-right of the modal to apply the changes to the list.

  • The languages shown in the list depend on the connected robot.

  • The option 'Unselect all' will only be shown once all options in a section are checked. Otherwise, the option 'Select all' will be shown.

Sort the list of quick responses

Tap one the shown properties of the quick response (name, language, favorite, recent) to sort the list in ascending or descending order.

SortResponses
The sorting will be applied on top of the active search or filter.
Quick response

For each quick responses, the following operations are available:

QuickResponseDetails
  1. Mark or unmark a response as favorite

  2. Play the selected quick response on the robot

  3. Edit the quick response

  4. Delete the quick response

Marking a Quick Response as a favorite

Tap the next to a Quick Response to (un-)mark them as favorites.

TapStar
md star shows the response is marked as favorite, whereas md star outline shows the response isn’t a favorite.
Play the quick response on the robot

Tap anywhere in the indicated area (close to the name of the quick response) to play the quick response.

TapResponse
Editing the quick response

Tap the md edit icon to edit the quick response.

TapEdit

This will open a modal with the information of the quick response:

EditModal
  1. The current category for the response

  2. The current name for the response

  3. The current language for the response

  4. The current content for the response

  5. The current speech-options

  6. Save-button

Editing the category

The category-section contains the following elements:

CategorySection
  1. Select a category

  2. Create a new category

  3. Edit the current category

  4. Delete the current category

The Edit- and Delete-buttons will be disabled for the Default category.
Selecting a category

Tap the field next to the category to show a list of available categories.

TapCategory

Tap a category from the list and tap the button 'OK' to select the new category.

CategorySelect
Create a new category

Tap the button Add new category to open a modal asking for the name of the category.

TapAddCategory

Enter a valid name for the category (1) and tap the Save button (2) to add the new category.

AddCategory
The new category will automatically be selected.
Editing a category
The edit-button will be disabled for the currently selected category.

Tap the edit-button to open the settings for the category.

TapEditCategory

Enter a new name for the category (1) and tap the option 'Save' to change the name of the category.

EditCategory
Delete a category
This will also remove all quick responses belonging to the category.
The delete-button will be disabled for the currently selected category.

Tap the delete-button next to the category to remove the category.

TapDeleteCategory

This will show a modal asking to confirm the deletion of the category.

ConfirmDeleteCategory

Tap the Yes-button to remove the category and its quick responses.

Setting the name of the response

Tap the name of the response to edit the name of the response.

TapName

Enter a new name for the response and tap outside the name-field to apply the change.

Setting the language
ZBOS Control needs to be connected to a robot before a language can be selected.

Tap the language-selection to display a list of the languages installed on the robot.

TapLanguage

Select the new language in the modal (1) and tap the button OK to set the new language for the quick response.

EditLanguage
The current speech-language will automatically be selected when adding a new quick response.
Setting the content
The content for the quick response will not be displayed in the list, only the name.

Tap the content-section to set the content for the quick response.

TapContent

Tap outside the content-modal to save the changes.

Setting the options for the speech

Tap the field 'Options' to display or hide the speech-options for the quick response.

TapOptions

Drag any of the sliders to a new value to change the options for the speech options.

EditSpeechSettings
  1. Volume (from 0-100)

  2. Speech speed (from 50-200)

  3. Voice pitch (from 50-200)

The list of available options depends on the connected robot.
Save the changes

Tap the button 'Save Quick Response' to save the changes for the quick response.

TapSave
Delete a quick response

Tap the icon md trash next to a quick response to delete the quick response.

TapDelete

Tap the option 'OK' in the confirmation-modal to permanently delete the quick response.

ConfirmDelete
Add a new quick response

Tap the button at the bottom of the quick response-pane to add a new quick response to the list.

AddNewResponse

Enter the necessary information for the quick response in the popup. See the section Editing the quick response for more information on available settings.

The settings for the language and speech-options will be filled in with the current settings on the robot.

Quick play

The Quick play tab has three different sections, specifically:

  • Interaction

  • POI

  • Composition

The options above will only be shown if supported by the connected robot.

List of Interactions

This option will only be shown if the connected robot has interactions installed on it. On a James for example, this option will be hidden from the Dashboard and the tab will not be shown in the Steering-page.

The interaction widget contains options for starting simple actions on the robot. These interactions can be used to entertain guests or make the robot (seem) more human.

ListDetails

The following options are available for this list:

  1. Filter the list

  2. Sort the list

  3. Use the interaction

When executing interactions, make sure the robot has plenty of free space to move the limbs.
Filter the list

The list can be shortened by entering a search-term(1) or by applying a filter(2).

SearchBar

Entering a search-term in the field

Tap the search-field to enter a term in the field:

TapSearch

After entering a search-term, the list will be updated immediately.

To remove the search-term, tap the icon in the right of the search-field or erase the current searched term in the search-field.

TapCloseSearch
The icon will only be shown when editing the search-field.

Filter by type of interaction

This section is highly dependent on the type of robot ZBOS Control has been connected to. For this section in the manual, the example of a Zora was used.

Tap the icon FilterList next to the search-bar to show the options for the filter.

TapFilter

A modal will be shown with available options:

The available options depend on the type of robot ZBOS Control has been connected to.
FilterListOptions

The list of Interactions will be separated into different sections, based on the connected robot. Each section has the following properties:

FilterCategoryOptions
  1. Tap the first option to select or un-select all sections in the list

  2. Tap an element in the category to toggle showing the animation with the selected property.

The option 'Unselect all' will only be shown once all category-elements have been selected. Otherwise, the option 'Select all' will be shown instead.

Apply the filter

Tap the icon to apply the filter to the list.

TapFilterCheck
Sort the list of POIs

Tap on a property of the POIs (name, type, map) to sort the list by these terms in ascending or descending order.

TapSort
The sorting will be applied on top of the active search or filter.
Using an interaction

The following details will be shown for each interaction:

InteractionOptions
  1. Tap the Star-icon to (un-)mark an interaction as a favorite

  2. Tap an interaction to make the robot start playing

  3. Tap the stop-button to stop the currently playing interaction

Marking an interaction as a favorite

Tap the next to a Quick Response to (un-)mark them as favorites.

TapStar
md star shows the response is marked as favorite, whereas md star outline shows the response isn’t a favorite.
Starting an interaction

Tap an interaction to start it.

TapInteraction
Stopping an interaction

Tap the stop-button next to the active interaction to stop it.

TapStop
The stop-button will only be shown if an interaction is already in progress.

List of POIs

ZBOS Control needs to be connected to a robot before any POIs will be shown in the list.

This component of the dashboard displays the list of POIs for the current map.

FullList

The widget can be used to:

  1. Filter the list of POIs

  2. Sort the list of POIs

  3. Move to or modify a POI

  4. Add the current location as a POI

Filter the list of POIs
Only the POIs for the current map will be shown in this list.

The user can modify the display of the list by entering a search-term or filtering the list down based on the type of POI.

Entering a search-term in the field

Enter a search-term to search the list for POIs with the search-term in the name of the POI.

SearchTerm

To remove the search-term, tap the icon in the right of the search-field or erase the current searched term in the search-field.

The icon will only be shown when editing the search-field.

Filter by type of POI

When starting ZBOS Control, only the POIs of the currently loaded map are shown.

Tap the icon FilterList next to the search-bar for the POIs to show the options on which the list of POI’s can be filtered.

FilterList

In the shown modal, the list can be filtered on type of POI.

FilterListOptions
  1. Tap the first option to select or un-select all POI-types

  2. Tap a category to toggle showing this type of POI in the list

  3. Tap the icon to apply the new setting

The option 'Unselect all' will only be shown once all POI-types have been selected. Otherwise, the option 'Select all' will be shown instead.
Sort the list of POIs
SortBy

Tap on a property of the POIs (name, type, map) to sort the list by these terms in ascending or descending order.

The sorting will be applied on top of the active search or filter.
Using a POI from the list

The following details will be shown for a single POI:

POIOperations
  1. Tap the POI to move the robot to the POI

  2. Tap the Stop-button to stop the robot

  3. Tap the Edit-button to edit the settings of the POI

  4. Tap the Delete-button to remove the POI (Confirmation required)

Moving a robot to a POI

Tap the name of a POI to have to robot move to the selected location.

TapName
If obstacles are detected or if the selected POI is obstructed by virtual walls or an unmapped part, the robot will not move.
Stop the robot moving

To stop the robot moving, tap any of the -buttons in the list.

TapStop
Edit the settings of the POI

Tap the button md edit next to a POI to edit its settings.

TapEdit

A modal will be shown with the current settings for the POI:

POISettings
  1. Name of the POI

  2. Type of POI

  3. Additional settings (Interactive POI only)

Tap the button 'Update POI to the current position' (4) to save the POI in the current location on the map with the new settings.

Tap the button 'Update POI' to apply the changes to the POI in its current location.

To undo the changes, tap outside the modal or tap the icon in the top-right corner of the edit-modal.
Deleting a POI

Tap the button md trash to remove a POI.

TapDelete

This will display a modal asking to confirm deleting the POI:

ConfirmDelete

Tap the option 'Yes' to remove the POI.

Tap the option 'No' or outside the modal to keep the POI.
Add current location as a POI

Tap the button to add the current position of the robot to the map as a POI.

TapAdd

A modal asking for the details of the POI is shown:

POIAdd
  1. Enter a name for the POI

  2. Select the type of POI to set (Additional options will be shown for Interactive POI).

  3. Tap the button 'Add POI' to add the POI to the map

  • The option 'Add POI' will be disabled until a value is entered for the name.

  • Tap outside the modal or the icon in the top-right corner of the modal to close the modal without adding the POI.

List of Compositions

This component has been designed to allow the user to start compositions directly from the dashboard. Additionally, the number of times the composition can be played can be edited as well.

The following options are shown for this component:

ListDetails
  1. Filter the list of compositions

  2. Sort the list of compositions

  3. Play or edit a composition

Only the locally stored compositions (i.e. stored in the ZBOS Control app) will be shown, not those stored on the connected robot.
Filtering the list of compositions

The list can be filtered by entering a search-term(1) or applying a filter(2) to the list.

FilterCompositions
  • Entering a search-term in the field

Enter a search-term in the field to search for the name of the composition.

TapSearch

To remove the search-term, tap the icon in the search-field or erase the current searched term.

The icon will only be shown when editing the search-field.
  • Filter by category or language

Tap the icon md funnel to display the filter-options for the list:

TapFilter

A modal will be shown with the available options for the filter:

FilterOptions

Tap the option to 'Unselect all'(1) to unselect all categories or tap one of the options(2) in the fields below to toggle the display of compositions for that category.

Tap one of the options in the list to toggle the display of the category or tap the button 'Unselect all' to toggle all selected options in the selected section off.

Tap the icon (3) in the top-right of the modal to apply the changes to the list.

The option 'Unselect all' will only be shown once all options in a section are checked. Otherwise, the option 'Select all' will be shown.
Sort the list of compositions

Tap one the shown properties of the compositions (e.g. name) to sort the list in ascending or descending order.

SortCompositions
The sorting will be applied on top of the active search or filter.
Composition

The compositions in the list have the following properties while not playing

CompositionDetails
  1. Tap a composition to play it on the robot

  2. Edit the number of times the composition should play

Playing a composition

Tap a composition to start playing it on the connected robot.

TapComposition
Once the composition is playing, the buttons next to the composition will change to display pause- and stop-buttons.
Editing the settings of the composition

Tap the button md edit next to a composition to edit the composition.

TapEdit

The following options are available for the composition:

PlaySettings
  1. Toggle the option 'Can be stopped' on to allow the end-user to stop the composition on the robot

  2. Toggle the option 'Infinite' to loop the composition endlessly

  3. Enter a specific number of times the composition should play

  4. Tap the option 'Save composition settings' to save the settings for the composition

Saving the changes will only be stored locally. To save the changes for a composition on the robot, use the Simple/Advanced composer-page.

For more information on the settings for a composition, see the manual for the composer

Pausing or resuming the composition

The following options are shown if a composition is already playing:

CompositionDetails Playing
  1. Tap the button 'Pause' to pause the composition

  2. Tap the button 'Stop' to stop the currently playing composition

Pausing a composition

Tap the button 'Pause' to pause the composition:

TapPause
  • Don’t pause a composition while a video is playing. This will stop the composition.

  • If a composition is paused while the robot is moving, when resuming the composition the robot will continue to move.

  • Don’t move the robot by hand while the composition is paused. This may cause the robot to not recognize its current position properly, thereby causing the movement of James to POI’s to be incorrect.

This will change the pause-button into a play-button.
Resuming a paused composition

Tap the button 'Play' to resume the paused composition:

TapResume
In some cases, the last played block will be repeated (e.g. Multimedia or speech), depending on where the composition was paused previously.
Stopping a composition

Tap the stop-button to stop the running composition.

TapStop
This will also stop the robot from moving (if it was moving to a POI/Location on the map).

Camera

This option will only be shown if supported by the connected robot.

The camera-tab is used to:

  • Show the camera of the robot in ZBOS Control

  • Take pictures on the robot

  • Listen to the microphone on the robot

Camera-screen

Only one feed from the robot can be active at a time. Older connections will be disconnected and requires the user to disconnect and re-connect the feed to view the camera-feed once more.

The camera-screen displays (one of the) camera-feeds on the robot.

Feed disabled Feed Enabled
CameraOff
CameraOn
Start viewing the camera feed
This option will only be shown if the video-feed isn’t enabled.

Tap the md videocam-button to view the camera-feed of the robot.

TapCameraEnable
Stop viewing the camera feed
This option will only be shown if the camera-feed is enabled.

Tap the md videocam-button in the top-right corner of the modal to stop viewing the camera-feed of the robot.

TapCameraDisable
Modifying the camera-view

The following options are available for the camera-window:

CameraDetails
  1. Options for the feed on the robot

  2. View of the selected feed

  3. Options for the output in ZBOS Control

Options for the feed

The following options are available for the feed sent from the robot:

FeedOptionsDetails
  1. Disable the feed (see previous chapter)

  2. Currently displayed feed

  3. Options for the selected feed

Change the source of the feed
When switching feed-sources, the feed-view needs to refresh.
This option is only available for robots that contain multiple feed-sources (e.g. main camera and/or tablet-feed).

Tap the selected feed with the icon to display a modal with the available feeds on the robot.

TapFeed

A modal will be shown with the available input-feeds on the robot.

FeedList

Tap a source to select it and tap the button 'OK' to view the selected feed.

TapFeedSource
Change the options for the feed

Tap the icon in the camera-screen to display additional the options for the camera-feed:

TapFeedOptions

A modal will be shown with the options for the feed sent by the robot

FeedOptionsDetails

Then, tap the setting Send stream audio to toggle the audio stream from the robot to tablet/smartphone on or off.

TapFeedOptionsModal
  • Enabling this option on will disable the voicerecognition on the robot.

  • Changing the option will cause the feed to re-connect.

Camera-view

The selected video-feed will be shown in the main section of the feed:

CameraFeedFocus
Options for the output
To display the toolbar, tap the main video-window in the camera-section. After some time (about 2 seconds), this toolbar will be hidden from the video-window.

The options for the output of the feed on the tablet/smartphone will be shown in the toolbar below the main feed.

OutputDetails
Pause the feed

Tap the icon in the toolbar of the video to pause the feed:

TapPause
This will change the icon to .
Resuming the feed
This option will only be shown if the current feed is paused.

Tap the icon in the toolbar of the video to view the live feed again:

TapResume
Change volume
Changing this volume will also change the audio from the smartphone/tablet to the robot.

Drag the slider in the volume-section in the toolbar of the video to change the volume of the video:

DragVolume
Additionally, the volume-settings of the tablet/smartphone can also be changed to correct the audio-output. See the manual for the tablet/smartphone on how to change the volume in Android/iOS.
Display in full screen

Tap the button md expand in the toolbar of the video to show the feed in full-screen:

TapFullScreen
Tapping this option will change the feed to full-screen on the tablet/smartphone. The option md expand will be changed to md contract.
Close full-screen
This option will only be shown if the current feed is in full-screen.

Tap the button md contract in the toolbar of the full-screen view to close the full-screen:

TapFullScreenExit

Camera-Controls

The camera-control can be used to take a picture or toggle the audio-stream from the smartphone/tablet to the robot.

ControlList
  1. Display a miniature camera-window

  2. Start a two-way-video-call to the connected robot if main camera-feed is selected

  3. Store a screenshot of the video-feed on the tablet/smartphone

  4. Toggle the audio-stream from the smartphone/tablet to the robot

Display the camera-window

Tap the icon at the top to display the camera-feed from the robot in a separate, smaller, window that can be dragged across the screen.

TapCameraView

The mini-camera-view will now be shown in the top left corner of ZBOS Control, with the following operations:

WindowList
  1. Modify the mini-window

  2. Change the feed from the robot

  3. Change the output on the tablet/smartphone

Modifying the camera-window

The toolbar on the top allow the user to use the following options:

WindowOperations
  1. Enlarge the window

  2. Shrink the window

  3. Drag the window

  4. Close the window

Enlarge the window
The maximum size of the window depends on the orientation (portrait/landscape) of the smartphone/tablet.

Tap the icon to enlarge the camera-window.

TapEnlarge
Shrink the window

Tap the icon to shrink the camera-window

TapShrink
Drag the window

Tap the top-bar of the window to drag the window around in ZBOS Control:

DragWindow
Close the window

Tap the icon to close the camera-window

TapClose
Modifying the video-feed

The following options are available for the feed sent by the robot:

FeedOptions
  1. Change the feed from the robot

  2. Change the options of the feed

Change the video-source

Tap the feed-source to display a modal with the available feeds:

TapFeed

Tap the new feed in the shown modal to select it and tap the button OK to display the selected feed:

TapFeedList
Change the options for the selected source

Tap the options for the feed to display a list of available options for the feed:

TapFeedOptions

Tap the options to change the setting and tap the icon to apply the change on the input-feed:

TapFeedOptionsList
Changing the options for the output
To display the toolbar, tap the main video-window in the camera-section. After some time (about 2 seconds), this toolbar will be hidden from the video-window.

The options for the output of the feed on the tablet/smartphone will be shown in the toolbar below the main feed.

OutputDetails
Pause the feed

Tap the icon in the toolbar of the video to pause the feed:

TapPause
This will change the icon to .
Resuming the feed
This option will only be shown if the current feed is paused.

Tap the icon in the toolbar of the video to view the live feed again:

TapResume
Change volume
Changing this volume will also change the audio from the smartphone/tablet to the robot.

Drag the slider in the volume-section in the toolbar of the video to change the volume of the video:

DragVolume
Additionally, the volume-settings of the tablet/smartphone can also be changed to correct the audio-output. See the manual for the tablet/smartphone on how to change the volume in Android/iOS.
Display in full screen

Tap the button md expand in the toolbar of the video to show the feed in full-screen:

TapFullScreen
Tapping this option will change the feed to full-screen on the tablet/smartphone. The option md expand will be changed to md contract.
Close full-screen
This option will only be shown if the current feed is in full-screen.

Tap the button md contract in the toolbar of the full-screen view to close the full-screen:

TapFullScreenExit
Start a two-way-video-call
This button will only be shown if the main camera feed has been selected.

Tap the button md people to open a video-call feed with the robot:

TapVideoCall
Enable the option for the audio-feed on the robot and smartphone before initiating the video-call.
Store a screenshot of the video-feed

Tap the icon md button to store a still of the video-feed:

TapScreenshot
Toggle the audio-stream

Tap the icon or the icon to toggle the audio from the tablet/smartphone to the robot on or off:

TapAudio

Apps

This page will only be shown if it is supported by the connected robot.

Tap the ZBOSControlLogo-button in the top-left corner of ZBOS Control to open the menu.

MenuList

Tap the option 'Apps' to display the applications installed on the robot.

MainPage
  1. Search the list of apps installed on the robot

  2. Start one of the installed app on the robot

  3. Modify settings of certain installed ZoraBots apps

Filter the apps-page

Tap the search bar at the top of the Apps-page to enter a search term:

TapSearch

Enter a search term in the field to show the results:

SearchResult
The list of apps will adjust the dimensions automatically based on the number of results.

Tap the icon in the search-bar to remove the search-term:

TapSearchRemove
The icon will only be shown if the search-field has been selected. Tap the search-bar again if nessary to show the icon.

Apps-list

The list of apps can be used to:

Additional apps or setting may be available on your device.

Start an installed app

Tap any of the images shown on the main page to start the app on the robot.

TapApp
  • James/Cruzr: Starting a new app will move the current app to the background.

  • Zora: A new app can’t be started on Zora if an app is already playing.

Kiosk-app

The Kiosk-app is the default app that is first shown when a robot (with screen) starts. The Kiosk-editor does not require a connection to the robot, but certain functionality (e.g. images, list of apps,.. ) may not be available until connected.

KioskApp

The following options are available for the Kiosk app:

KioskDetails
The options to lock/unlock the kiosk-settings and to remove the password will only be shown if a password has been set on the robot itself.

Starting the kiosk-app

Do not restart the Kiosk-app while a composition or video is playing. This may cause the output of the composition or video to not be shown anymore.

Tap the icon for the Kiosk to show the kiosk-app.

TapKiosk
This will not restart the app or reload it, but simply bring it to foreground.

Locking or unlocking the settings

This option will only be shown if ZBOS Control is connected to a robot where the PIN-code is set.

Tap the LockedSettings- or UnlockedSettings-icon to unlock or lock the settings for the kiosk.

TapLock

LockedSettings = Settings are locked, PIN-code required
UnlockedSettings = Settings are unlocked, no PIN-code required

Removing the password-setting

Removing the password will automatically unlock the settings for the kiosk on the robot.

Tap the md trash-icon to remove the PIN-code settings for the kiosk.

TapRemovePassword

Kiosk Editor

Tap the icon below the Kiosk-entry in the Apps-page to open the Kiosk editor.

TapKioskEditor

A separate manual has been created to provide more information on using the Kiosk-editor. Use this link to view this manual.

  1. Kiosk Editor is also available when not connected to a robot, although with limited functionality (e.g. linking images or apps is not possible).

  2. Make sure the app and the robot are always up-to-date before using the editor. Although we try to maintain backwards compatibility, in some cases it may be necessary to edit (i.e. change at least one item) older datasources for full compatibility with newer versions of the Kiosk.

  3. To avoid unexpected layout problems, avoid using transparent background images.

Survey Editor

Tap the icon below the 'ZoraBots Survey'-entry in the Apps-page to open the Survey editor.

TapSurveyEditor

One of the apps available by default on ZBOS powered robots is the ZoraBots Survey. The survey-app has been designed to take surveys or quizes from users.

A separate manual has been created to provide more information on using the Survey-editor. Use this link to view this manual.

Face Recognition

This is an optional app to extend the functionality of ZBOS. Availability can depend on the type of robot of software version.

The Face Recognition background Service is used to register people based on their facial features. This information can be used in Composer to perform personalized actions depending on who is in front of the robot.

Person registration

Tap the icon md edit below the Zorabots Face Recognition Service to open the settings.

TapFaceEditor

On this page, the user can:

Adding a new person

By default, no people have been registered. Tap the button md add in the bottom-right of the page to register a new person.

AddUser

On the next screen, enter the name and description for the person before adding a photo.

AddUserModal

Once a first image has been selected, the person profile is ready to be created. Tap the button Upload to create the new person.

Adding photos to people

Tap the icon md add to add more images to the person profile.

AddImagesToProfile

There are two options to add photos to the person profile, specifically:

Image is stored on the robot

Tap the selection-field (marked None) next to the option Select Photo on robot to select an image from the multimedia folder on the robot.

AddRobotPhoto

Tap the Upload-button (that will appear once the image has been selected AND the name and description for the person are filled in) to create a new profile.

Tap the option Select photo stored on robot to add a stored photo to the person profile.

Tap the icon md close next to the file to re-select the image (including the stored location).
Image is stored on the tablet

Tap the button Select photo on device to select a file from the tablet to use for the face-recognition.

Images taken by the camera of the robot will be stored in the location Downloads/ZBOS/Media.

Tap on an image stored on the tablet to select it and close the file viewer on the device.

Tap the button Upload to add the selected photo to the person profile.

Tap the icon md close next to the file to re-select the image (including the stored location).
Editing a known person

Tap the icon md edit to edit the configuration for a known person.

EditUser
Testing the configuration

Once a person profile has been created, tap the button Test in the bottom-centre of the page to make the robot take a photo and match it to the configured profile.

At least one person profile must be registered before the Test-button will be shown in ZBOS Control.
Tips for face-recognition-service

To improve accuracy of face recognition, add many pictures (min. 3) of the person to recognise. The system will also perform better if many people are added instead of just one person.

As the AI uses the robot camera, the best source pictures are those taken by the same camera. You can take pictures with the camera widget in the dashboard (or the camera page in Steering). These pictures will be stored in the location Downloads\ZBOS\Media.

For best results, consider the following conditions:

StudioLights
  • Lights from the back of the robot

  • Clear background (preferably on the darker side)

  • Normal, everyday looks

To cover as many useful angles as possible, use the 9 locations pointed out on the grid below as focus points.

FaceOrientation

Multimedia

The list of multimedia will only be shown if ZBOS Control is connected to the robot.

The multimedia-page has been designed to manage the media-files available by the composer, kiosk- or other Zorabots-apps. Tap the option 'Multimedia' in the menu-bar of ZBOS Control to display the following page:

Overview
  1. Select the source of multimedia-files (Robot or Cloud)

  2. Search the list of multimedia-files

  3. Sort the list of multimedia-files

  4. Edit the list of multimedia

  5. Upload files to the robot/cloud (if logged in)

Select multimedia-source

The available tabs depend on the connected robot and/or connection. For example, the cloud-tab will only be available if a user is logged in and the robot-tab will only be shown if ZBOS Control is connected to a robot.

Robot-tab

Tap the option 'Robot' to display the list of media-files stored on the robot:

TapRobotTab

For more information, see Local robot-multimedia

Cloud-tab

Tap the option 'Cloud' to display the list of media-files stored in the cloud-account:

TapCloudTab

For more information, see Cloud-based robot-multimedia

Searching for a multimedia-file

Tap the search-bar to enter a search-term for the multimedia-file:

TapSearchBar

Enter a search-term in the field to show the results:

SearchedTerms

Tap the icon in the search-bar to remove the search-term:

TapSearchRemove
The icon will only be shown if the search-field has been selected. Tap the search-bar again if necessary to show the icon.

Sort the list of multimedia

Tap any of the terms in the list to sort the list based on a property of the media-file. For example:

TapSortType

List of media-files

The list of media-files and options is highly dependent on how ZBOS Control is connected to the robot:

Selected tab Chapter Features

Robot

Local robot-multimedia

  • Previews available

  • File can be downloaded and/or deleted

  • Files can be uploaded to the robot (including zip- & apk-files)

  • File can be uploaded to cloud-account (if logged in)

Cloud-based robot-multimedia

  • No previews available

  • File can only be uploaded to cloud-account

Cloud

Cloud files

  • No previews available

  • Sync file from the cloud platform to the robot(s)

  • Download/Delete file from the cloud platform

  • Upload file(s) to cloud

Refreshing the list

In case an outside app (e.g. Survey) adds multimedia-files, the list can be manually refreshed.

Drag the list down to refresh the list:

RefreshList

A loading icon will be shown while the list of data is retrieved (2). Once the list of media-files is retrieved, the icon will be removed.

Local robot-multimedia

Tap the option Multimedia in the menu of ZBOS Control to show the multimedia-page:

OverviewLocal
  1. Tap the icon or thumbnail to show the file on the tablet/smartphone

  2. Tap the file to rename the file

  3. Upload the file from the robot to the cloud

  4. Download the file to the tablet/smartphone

  5. Delete file from the robot

  6. Upload file(s) from the tablet/smartphone to the robot.

  • Thumbnails are only available for video- or image-files

  • The upload-button (md cloud upload) will only be shown if the file isn’t available on the cloud.

  • Multiple files can be uploaded at once

  • The file will be downloaded to the folder 'Download/ZBOS/Media'

Viewing the media-file
  • Thumbnails will only be availabe for video- and image-files.

  • The preview will change based on the type of media to show (e.g. video-controls for a video-file ).

  • For video- or audio-files, tap the settings () and then tap the option 'Download' to download the file to the tablet/smartphone.

Tap the icon/thumbnail to show (or stream) the media-file from the robot to the tablet/smartphone:

TapPreview

A new modal will be shown displaying the file:

PreviewDetails
  • Tap the icon in the top-right corner of the modal to close it.

  • Tap the download-button md download to download the file to the folder Download/ZBOS/Media on the tablet/smartphone.

Renaming a media-file

Tap the name of the media-file to edit the name of the media-file:

TapName

A border will be shown, indicating the filename will be edited.

EditFileName

Enter the new filename and tap outside modal to apply the change.

The file-extension (e.g. .mp4, .mp3, …​) can’t be edited using ZBOS Control.
Upload file to the cloud-account
This icon will only be shown if the file isn’t available on the Cloud-account.

Tap the 'Upload'-button to send a file to the currently connected account:

TapUpload

A message will be shown in ZBOS Control showing the file is being uploaded to the cloud-account:

MessageUploading

The following message will be shown once the file has finished uploading to the cloud:

MessageUploadSuccess
Download the media-file

Tap the icon md download to download the file to the tablet/smartphone.

TapDownload

The file will be downloaded to the location Download/ZBOS/Media. After the file has been stored, the following message will be shown:

MessageStoredMedia
Deleting media-file from the robot
This may cause some content to not be displayed (e.g. in kiosks, compositions, surveys, …​).

Tap the button md trash next to the media-file to remove the file from the robot.

TapDelete
Upload file(s) to the robot
This option will only be shown if ZBOS Control is connected using a local network to a robot.
SVG-files can be uploaded, but previews are currently not supported.

Tap the option 'Select Files' to select a multimedia-file stored on the connected device:

TapSelectFileButton

Select the file(s) to upload to the robot in the shown explorer-window. The file-name will now be shown in the bottom bar.

A warning will be shown if the uploaded image is too big. This could cause the image to load slowly. Reduce the file in size and/or quality and try again.
ImageSizeWarning
Select multiple files to upload (optional)

If multiple files need to be uploaded, tap the bottom bar to display an additional modal showing the file(s) to be uploaded:

TapSelectedFile
The currently selected file(s) will be shown in the list.

Tap the button 'Add files' in the modal and select another file to upload in the shown explorer-window.

TapAdditionalFile

This file will be shown in the list in the modal. Tap the icon to close the modal:

TapSelectedCheck

The selected files will now be shown in the bottom bar (separated by ' + '):

MultiFileList
Upload file(s) to the robot

Tap the 'Upload'-button to upload the files from the tablet/smartphone to the robot:

TapMultiUpload
The file-upload will be shown for each file separately.
Special files (local upload only)

There are 2 special file-types that can also be uploaded *using a local connection*, specifically:

  • ZIP-files

  • APK-files

Uploading a zip-file
The zip-file can only contain multimedia-files. Multimedia-files in a folder-structure or non-multimedia files (including zip-files) will not be processed by the robot.

A zip-file containing only multimedia-files in the root (e.g. exported zip-files from kiosk- or survey-datasets) can be uploaded in one go to the robot. Tap the upload-button to select the zip-file and upload it to the robot.

Once the upload finishes, the zip-file will be unpacked and the multimedia-files will be shown in the multimedia-folder. There could be a little lag between the upload and the media-files being shown in the list, depending on the size of the content in the zip-file.

If a multimedia-file already exists on the robot, it will be overwritten.
Uploading an APK-file

To install applications on the robot without using the store, an APK file can be uploaded to the robot to run it.

Tap the upload-button and select the APK file on the connected device. Tap the Upload button to upload the APK to the device. This will show the installer on the robot where the user can choose to install the software on the robot.

It is highly recommended to only upload one APK-file to the robot at a time. Otherwise, multiple installation modals will be stacked on top of one another.

Cloud-based robot-multimedia

The following list will be shown in the 'Robot'-tab in the Multimedia-page while connected to the robot using the cloud:

OverviewRobotCloud
  1. Tap the name of a file to rename it

  2. Tap the md cloud upload-button to upload a file to the cloud

Renaming a media-file

Tap the name of the media-file to edit the name of the media-file:

TapName

A border will be shown, indicating the filename will be edited.

EditFileName

Enter the new filename and tap outside modal to apply the change.

The file-extension (e.g. .mp4, .mp3, …​) can’t be edited using ZBOS Control.
Upload file to the cloud-account
This icon will only be shown if the file isn’t available on the Cloud-account.

Tap the 'Upload'-button to send a file to the currently connected account:

TapUpload

A message will be shown in ZBOS Control showing the file is being uploaded to the cloud-account:

MessageUploading

The following message will be shown once the file has finished uploading to the cloud:

MessageUploadSuccess

Cloud files

Tap the tab 'Cloud' in the multimedia-page to show the files stored on the cloud-account:

TapCloudTab

The following list of items will be shown:

OverviewCloudTab
  1. Tap the name of the file to rename it (cloud only)

  2. Sync the file to robot(s)

  3. Download a file

  4. Delete a file from the cloud (not the robots)

  5. Upload file(s) to the cloud

Renaming a media-file

Tap the name of the media-file to edit the name of the media-file:

TapName

A border will be shown, indicating the filename will be edited.

EditFileName

Enter the new filename and tap outside modal to apply the change.

The file-extension (e.g. .mp4, .mp3, …​) can’t be edited using ZBOS Control.
Sync a file to robot(s)

Tap the icon md sync to synchronise the selected file:

TapCloudSync

A list of robot linked to the cloud-account will be shown:

CloudSyncList
  1. Name of the file to sync

  2. List of robots to sync the file to

  3. Update the synchronisation-information

Tap the icon to close the modal without updating the synchronisation-information.
Synchronising a file

Tap the icon md checkbox to toggle which robot should receive the file:

TapRobotSync
  • The file will only be synchronised when the robot is connected to the cloud. Should the robot be offline, the file will be synchronised when the robot connects to the cloud.

  • If an image was uploaded from a robot, the robot will be checked automatically.

Updating the robot-sync-list

Tap the button 'Update' to update the synchronisation-information for the selected file:

TapUpdate
This will not delete the file from the robots.
Download the media-file

Tap the icon md download to download the file to the tablet/smartphone.

TapDownload

The file will be downloaded to the location Download/ZBOS/Media. After the file has been stored, the following message will be shown:

MessageStoredMedia
Deleting media-file from the robot

Tap the button md trash next to the media-file to remove the file from the cloud.

TapCloudDelete
Upload file(s) to the robot
ZIP-files are not supported.
SVG-files can be uploaded, but previews are currently not supported.

Tap the option 'Select Files' to select a multimedia-file stored on the connected device:

TapSelectFileButton

Select the file(s) to upload to the robot in the shown explorer-window. The file-name will now be shown in the bottom bar.

A warning will be shown if the uploaded image is too big. This could cause the image to load slowly. Reduce the file in size and/or quality and try again.
ImageSizeWarning
Select multiple files to upload (optional)

If multiple files need to be uploaded, tap the bottom bar to display an additional modal showing the file(s) to be uploaded:

TapSelectedFile
The currently selected file(s) will be shown in the list.

Tap the button 'Add files' in the modal and select another file to upload in the shown explorer-window.

TapAdditionalFile

This file will be shown in the list in the modal. Tap the icon to close the modal:

TapSelectedCheck

The selected files will now be shown in the bottom bar (separated by ' + '):

MultiFileList
Upload file(s) to the cloud

Tap the 'Upload'-button to upload the files from the tablet/smartphone to the cloud-account:

TapMultiUpload
A progress-bar will be shown for each file separately when uploading the files.

Localisation and mapping

Introduction

The page Localisation and mapping has been designed to allow robot(s) to navigate (mostly) autonomously. Tap the option Localisation and mapping in the menu of ZBOS Control to show this page.

TapMenu

This page is used to create maps, add Points Of Interest for the robot to move to and have the robot navigate the map.

On this page, the user can:

The user can either edit the map or move the robot and/or view the camera. Both are not possible at the same time. To edit the map, tap the icon md construct in the bottom-right corner.

Mapping guide

The navigation-system needs to be configured by the user. Only the user has access to the areas and locations where the robot needs to be able to navigate.

The following steps should be taken when creating a map:

1. Set up the charging station (with enough free space)

SafetyZone

For more information on the required setup, see the related manual here

2. Dock the robot with the powered charging station and turn it on

3. Connect ZBOS Control to the robot and create a new map

MapNewChargingStation
A 'charging station' POI will be added automatically.

5. Navigate the robot around the map

Make sure the option 'Scanning mode' is selected.
Remove any obstacles out of the way before scanning to create a large enough 'clear' area for the robot to navigate.

Move the robot using the manual controls in the Localisation-page around the map to gradually fill the map.

MapNewFilled

6. Save the map once the map is filled in

MenuMapSave
The Navigation mode will now be enabled.
It is highly recommended to save a duplicate of the map once the mapping has been completed.

7. Add the POIs and virtual walls to the map

See the section Adding POIs and Adding virtual walls for more information.

8. Save the map again

Save the map again to add the POIs and walls to the stored map.

Terminology

Term Explanation

Map

The map is a combination of information retrieved from the navigation system installed on the robot and additional elements added by the user.

For example: The Lidar system on James or Cruzr will fill in the map for the location and additional elements (POIs or walls) can be added using ZBOS Control.

Wall

A virtual obstruction, added to the map to block the robot from moving to restricted areas.

POIs

A Point Of Interest for the robot to quickly and safely navigate to.

SLAM

The scanning- and navigation system installed on the robot.

Scanning mode

This mode is used to update the map with the information from the navigation system installed on the robot.

Navigation mode

This mode is used to keep the map as-is while the robot is moving. Note however that the navigation system will still apply the latest information when navigation.

For example, the map will remain the same but the robot will move around temporary obstacles (e.g. boxes, desks, …​)

Example

The following example was used to map a hallway:

SampleMap

A few key interest points on the map:

  • Safety-zones have been added to make sure the robot doesn’t enter areas where doors might open.

SampleMapSafety
  • An obstacle has been placed in the middle of the main hallway

SampleMapObstacle
  • Currently, the robot is stationed in a room that hasn’t been fully mapped yet.

SampleMapIncomplete
  • POIs have already stored on the map (including a charging station).

SampleMapPOIs

Legend of the map

Reading a map highly depends on the language and/or symbols used to determine the output.

Legend of the map/blueprint

md square white

Clear to move

md square palegrey

Unknown, not clear to move

md square darkgrey

Unknown, not clear to move

md square black

Obstacle detected, not clear to move

md square red

Virtual wall, not clear to move

Legend of the icons

POI RobotLocation

Current robot location on the map (based on the information from the SLAM-system)

POI Default

Normal POI, purely used for navigation

POI ChargingStation

Charging station POI

(Can also turn blue, depending on which station is closest to the robot)

POI Interactive

Interactive POI, used to interact with other systems (e.g. open a door)

POI Stop

The button to stop the robot from moving immediately

Navigating the robot

The user can either edit the map or move the robot and/or view the camera. Both are not possible at the same time. To edit the map, tap the icon md construct in the bottom-right corner of the page.

Tap the icon logo game controller a to show the movement-controls.

OpenMovementControls

Tapping this option will show added controls and options for viewing the map and navigating the robot. However, editing the map and using POIs to move the robot will no longer be possible.

Tap the icon md construct to return to editing the map.

Controls for manually moving the robot

Additional controls will be shown for moving the robot and tilting the head of the robot. The movement-controls will only be shown if the map is shown, while the head-controls will only be shown if the camera-controls are active.

MovementControls

Tap the icon logo game controller a to switch between analog and digital controls for moving the robot or the head.

Analog Digital

DigitalControls

AnalogControls

For more information on using the movement-controls, see the chapter movement controls on the steering-page.

Toggle additional views

At the bottom of the app, controls are shown to toggle other views.

SwitchingViews

The buttons contain the following actions:

ViewEdit

Tap this button to return to the editing-mode and hide all movement- and camera-controls from this page.

ViewCamera

Tap this button to toggle the camera and head-motion controls.

ViewMap

Tap this button to toggle the map and movement-controls.

ViewRotation

Tap this button to rotate the positions of the camera- and map-screen.

  • If only the camera-screen is shown, the option to toggle the camera-screen will be disabled. The same applies for the map-screen.

  • The option to rotate the controls will only be shown if both the camera- and map-screen are active.

Controls for automatically moving the robot

If a route to the destination cannot be calculated from the robot’s current position (e.g. walls are blocking the route, passageway is too narrow) on the map, the robot will not move.

Other than manually moving the robot, the automatic navigation system can also move the robot to specified points on the map. There are 2 main methods for this:

  • Go to a POI

  • Go to a location on the map

Go to a POI

There are several ways of moving the robot to a specified POI, specifically:

  • Use the voice-command on the robot 'Go to <name of the POI>' (e.g. 'Go to Kitchen').

  • Tap the POI in the designated folder of the Kiosk.

  • Use the List of POIs in ZBOS Control to move the robot to the POI. (1)

  • Use the Localisation and mapping-page in ZBOS Control to move the robot to the POI.

(1): See POIs for more information on creating or editing the available POIs.

Go to a location on the map

Other than constantly defining POIs for the robot to move to, James can also move to any point on the map without needing to define it as a Point-of-Interest.

Tap the option Go to location in the menu Navigate to start the navigation.

MenuNavigateGoto

Tap anywhere on the map to make James (try to) move there.

This option cannot be used to dock a robot to the charging station. Use the option Go to charging station in the menu Navigate instead.
If no route can be calculated (due to incomplete maps, detected obstacles or walls), James will not move.
Go to charging station

The charging station is a special case amongst POIs. The voice-command Go to charging station will make the robot move to the closest charging station, regardless of the name of the POI.

Therefore, special commands have been provided in ZBOS Control as well.

The options for moving James to a POI also apply to the charging station.

Tap the option Go to charging station in the menu Navigate to move the robot to the nearest available charging station.

MenuNavigateChargingStation

Maps

The map is a combination of the environment scanned by the detection system of the robot and elements added to the map by the user (virtual walls and/or POIs). The map is filled in by moving the robot (at a reasonable speed) while the additional elements need to be added manually by the user.

  • Move the robot over a section multiple times to clear the 'grey' areas.

  • Rotate the robot in corners or near obstacles to fill in the blank spots on the map.

BlankMap

The following steps should be used when creating a new map:

  1. Create a new map

    • Map the environment

    • Add and edit or delete the POIs

    • Add and edit or delete the walls

  2. Save the map

    • Save a copy of the map

  3. Edit the settings for the map

  4. Change the advanced settings for the mapping

Creating a new map

The SLAM-system must be active. This option shouldn’t be used when the robot (and particularly the mapping system) is on standby.
If available, connect the robot to the charging station before creating a new map.
It is recommended to save the map without any additions (i.e. walls or POIs) and then saving a copy of the map where the objects are added to the map.

Tap the option New in the Map menu to create a new map.

MenuMapNew
  • It may take a few seconds before the immediate surroundings of the robot are shown on the map.

  • The option 'Scanning mode' will be enabled automatically.

Mapping the environment

Once a new map has been created, the blueprint will only display the immediate surroundings:

Make sure the option 'Scanning mode' is enabled in the control to update the map.
BlankMap

Undocking from the charging station

When moving the robot away from the charging station, the robot will always move to a safe undocking point. Do not move the robot with the manual controls while the robot is moving to said location.

MapUndockLocation

Mapping the rest of the environment

Use the movement controls to move the robot manually and fill in the map.

PartialMap
If the robot hasn’t been moving for more than 60 seconds, the 'Scanning mode' will be disabled.
  • It is recommended to move the robot slowly while creating the map. Some slam-systems only update the map every second, and some gaps may occur if the robot is moving too fast.

  • The map will only be updated if the option 'Scanning mode' is enabled. See [Toggle scanning mode] for more information.

See the chapter Mapping guide for the next step(s).

Toggle scanning system

Scanning in this context implies the updating of the map based on the data of the navigation/mapping system installed on the robot.

Switching modes

Tap the option 'Navigation mode' or 'Scanning mode' at the top of the page to display the following options:

NavSelection

Navigation mode

Tap the option 'Navigation mode' to keep the map as-is and not be updated anymore. This does not imply however that the navigation system and scanning system will be disabled, only that the current map will no longer be updated with the latest information (save for the current location).

The latest data of the scanning system will still be used to navigate around detected obstacles at the time.
It is highly recommended to add virtual walls to the map when using this mode.

Scanning mode

Tap the option 'Scanning mode' to update the map based on the information of the scanning system installed on the robot.

Only use this mode while creating the map. Once the map has been filled in, switch to 'Navigation mode' to move the robot and/or add additional elements to the map.
The scanning mode will disable after 60 seconds of the robot standing still.

Saving the map

Once the map has been filled in and/or the POIs and walls have been added, the map can be saved. Tap the option Save in the menu Map to save the current map.

MenuMapSave

If the map hasn’t been saved before, a modal will be shown asking for a valid name.

SaveMapModal

After saving the map, the 'Navigation mode' will be enabled.

It is recommended to save the map without any additions (i.e. walls or POIs) then saving a copy of the map where the objects can be added to the map.
  • Multiple maps can have the same name. It is highly recommended however to give unique names to the maps.

  • It is recommended to save the blank map (i.e. without additional POIs or walls) more than once. See Saving a copy of the map for more information.

Saving a copy of the map

Tap the option Save as in the menu Map to save the map with a different name.

MenuMapSaveAs

Enter a valid name in the modal and tap the option Save to store the map using a different name.

SaveMapModal
The newly saved copy will be set as the active map.

Enabling (partial) auto-save of the map

In addition to manually saving the map, a feature is available that will automatically save the current map when a POI or wall is added, edited or removed.

Tap the option Auto save in the menu Settings to toggle this feature:

MenuSettingsAutoSave

Opening a map

Tap the option Manage in the menu Map to show a list of all the maps stored on the robot.

MenuMapManage

Tap on an available map to select it and tap the option Load map to use the selected map.

MapListOpen

The robot will be placed on its last known location of the map, regardless of the actual location of the robot. It is therefore highly recommended to place the robot on the charging station when changing maps. To change the position of the robot manually, see the chapter Advanced settings.

The page Localisation and mapping may need to be reloaded before the map is fully shown. To reload, go to another page (steering for example) and return to the Localisation and mapping page.

Deleting maps from the robot

Tap the option Manage in the menu Map to show a list of all the maps stored on the robot.

MenuMapManage

Tap the icon md trash next to a map to remove it from the robot after confirming the deletion in the shown modal.

MapListDelete
Do not delete the map that is currently in use.

POIs

A POI (Point Of Interest) is a defined location on the map that can be used to send a robot to. The POIs can be configured as a charging station and/or a simple location.

Adding a POI to the map

The easiest way to add a POI to a (small) map is to make the robot move to the specified location and adding the current position to the map (orientation and all).

Alternatively, a POI can be added to the map. However, it will always be added using a default orientation. To alter the orientation, the POI needs to be selected and edited.

Current location

Tap the option Current position in the menu POI to add the robot’s current location to the map.

MenuPOICurrent

Enter a unique name and a type for the POI. This will enable ZBOS Control to use the position in the list of POIs and will allow the user to use voice commands to move the robot to the saved location.

Next, tap the option Add POI to add the POI to the map.

AddPOIModal
If the option 'Interactive' has been selected, additional options will be shown. These options are only to be used by personnel trained by Zorabots.
Location on the map

Tap the option Add in the menu POI to add a POI to the map. Tap a spot on the map to add a POI.

MenuPOIAdd

Enter a unique name and a type for the POI. This will enable ZBOS Control to use the position in the list of POIs and will allow the user to use voice commands to move the robot to the saved location.

Next, tap the option Add POI to add the POI to the map.

AddPOIModal
If the option 'Interactive' has been selected, additional options will be shown. These options are only to be used by personnel trained by Zorabots and are mainly designed to communicate with a domotics system.
Using the POI’s on the map

Tap the option Select in the menu POI and tap on the POI on the map to select it.

MenuPOIGoto

Tap the option Go to POI to make the robot plot a route to the designated POI. If a route is available (barring any obstacles, walls or areas that are too narrow), the robot will move there.

Using the List of POIs

Tap the option Manage in the menu POI to open the list of available POIs.

MenuPOIManage

Tap the destination-POI to select it, then tap the option md navigate at the bottom of the list to plot a route to the selected POI.

POIListGoto

Editing an existing POI

There are 2 ways of editing a POI, specifically:

  • Selecting a POI on the map and tapping the option Edit POI in the POI-menu.

  • Tapping the option Edit in the list of all available options.

The latter option only allows the user to change the name and type of the POI. To change the orientation of the POI, it must be selected on the map.
Selecting a POI on the map
  • If the option Select is active, the map can no longer be zoomed in or turned.

  • Tap the option Select in the menu POI again to stop selecting POIs and using multi-touch controls to zoom in or out of the map.

Tap the option Select in the menu POI to enable a POI to be selected.

MenuPOIEdit

Tap a POI on the map to select it. The icon will now be changed to contain an additional rotational control. In addition, the available options in the menu POI will now be altered.

POISelected

Tap the option Edit POI to edit the properties of the POI.

EditPOIModal

Change the name and/or type of the POI to change the properties of the POI. Tap the button Update POI to apply the changes.

Editing the location and orientation of a POI

After selecting a POI, it can be moved on the map and re-orientated.

POIDrag

Changing the location of the POI

Drag the POI-icon to another position on the map to change its location.

If the POI is located in a blocked location, the robot may not be able to move there.
  • Changing the orientation of the POI

Drag the indicator above the icon to change the orientation of the POI on the map.

POIRotate
Selecting a POI from the list

Tap the action Manage in the menu POI to show a list of available POIs.

POIListEdit

Tap the Edit-button md edit to next to a POI to edit its properties.

EditPOIModal

Change the name and/or type of the POI to change the properties of the POI. Tap the button Update POI to apply the changes.

Removing POIs from the map

There are three options to remove POIs from the map, specifically:

  • Removing all POIs

  • Remove one POI using the map

  • Remove one POI using the list of POIs.

Removing all POIs

Tap the option Clear All in the menu POI to remove all POIs from the map.

MenuPOIClear

A request to confirm clearing all POIs from the map will be shown. Tap the option Yes to remove all POIs from the list.

POIClearConfirmationModal
Removing a POI selected on the map

Tap the option Delete md trash in the menu POI after selecting a POI to remove it from the map.

MenuPOIDelete
Removing a POI using the list
Make sure no POI has been selected in the map-view, otherwise the option Manage will not be shown in the menu.

Tap the option Manage in the menu POI to open a list of available POIs. Then, tap the option Delete ( md trash ) next to a listed POI to remove the POI from the map.

POIListDelete

Walls

Do NOT zoom in or out of the map when drawing or editing walls.

Once the blueprint has been created, certain area’s may be off-limits to the robot. To provide this functionality, virtual obstructions (walls) can be added to the map.

Drawing a new wall

Tap the option Draw wall in the menu Walls to add a new wall to the map.

MenuWallsDraw

Next, tap a location on the map once to indicate one end of the wall, then tap another to connect the two together to construct the virtual wall.

Start End

DrawWall1

DrawWall2

In case the starting point for the wall was incorrect, an additional option 'Undo' has been added to the menu so the starting position of the wall can be reset.

Editing a wall

Tap the option Select in the menu Walls to enable the selection of a wall.

MenuWallsSelect

Tap on the wall to edit to select it. This will change the display and the options in the Walls-menu. The following operation are available for editing the selected wall:

Extending a wall

Drag an outer edge to extend the wall in a straight line.

WallExtend

Change the position

Drag the wall on the map to change its location on the map without changing its orientation.

WallChangeLocation

Rotate the wall

Drag the upper icon to rotate the wall (in either direction).

WallRotate
Tap the option Select again to stop selecting and editing wall-objects.

Deleting a wall

Like the POIs, there are two main options to remove walls from the map:

  • Remove all walls from the map

  • Remove one wall using the map

Removing all walls from the map

Tap the option Clear in the menu Walls to remove all walls from the current map.

WallsClear

A popup will be shown asking to confirm removing all walls from the map. Tap Yes to remove all walls from the map.

WallClearConfirmationModal

Deleting a single wall

Tap the option Select in the menu Walls to enable the selection of a wall.

MenuWallsSelect

Tap on the wall to select it. Tap the (newly available) option Delete md trash to remove the wall from the map.

WallDelete

Map settings

This section contains the features related to the map and can only be accessed while in Editing mode.

Tap the option Settings in the menu to show the settings for the page.

TapSettings
OverviewSettings

On this page, the user can:

Changing the view of the map

ZBOS Control can use the multi-touch interactions for zooming and scrolling maps by pinching and turning the screen, like Google Maps. For more information on methods, see Pointing Gesture.

When selecting or drawing walls or selecting POIs, the map cannot be rotated using the traditional methods for Android. The added controls (Rotation and Zoom slider) must be used.

Alternatively, manual controls are also available for changing the view of the map, such as the Rotation slider and the Zoom slider.

Toggling the rotation slider

This option is enabled by default.

Tap the option Show rotation slider in the menu Settings to toggle the rotation-slider below the map (colored red).

MenuSettingsBars

Move the slider left or right to rotate the map counter- or clockwise respectively.

Toggling the zoom slider

Tap the option Show zoom slider in the menu Settings to toggle the zoom-slider below the map (colored blue).

MenuSettingsBars

Move the slider left or right to zoom the map in or out on the center of the current map.

Tap the option GPS mode to orient the map based on the robot’s current orientation.
If the option GPS mode is set, the rotation-slider will not be shown.

Toggling the GPS-mode

Tap the option GPS mode in the menu Settings to toggle the GPS-mode of the map.

MenuSettingsGPS

This function has been designed so the robot will always be oriented to the top of the screen, and the map will rotate if the robot is turning, like any GPS-system in a car.

If the GPS mode is enabled, the rotation slider will be hidden, even if the option is enabled in the settings.

Toggling the auto-save feature

Tap the option Auto Save to toggle the option on or off:

TapAutoSave

If this option is enabled, the map will be saved every time a POI or a virtual wall is updated or added. If this option is disabled, the map needs to be saved to store the changes in the current map. The changes will be reset the next time the map is loaded (e.g. when the robot is rebooted). Save the map manually to store the changes.

Toggling the bèta features

Tap the option Show Beta features to toggle viewing the bèta features:

TapBetaFeatures

This will display an additional option in the top right corner:

OverviewBetaFeatures

Tap the icon Location to display or hide the name(s) of the POI(s).

OverviewBetaFeatures2

Toggling the advanced settings

Tap the option Show advanced settings to toggle the display of the advanced settings in the map menu:

TapShowAdvancedSettings
Advanced map settings
The following options should only be used if the robot has difficulties navigating.
Displaying the advanced settings

Tap the option 'Show advanced options' in the menu 'Settings' to display or hide the Advanced features option in the menu.

MenuSettingsAdvanced

Tap the (newly added) option 'Advanced' to display the available options:

TapAdvanced
Resetting the robot’s location

If the robot’s current position should be lost, it can be changed manually or automatically.

These options should only be used if the robot isn’t navigating normally. Try positioning the robot on the charging station and rebooting the robot before using the advanced options.
Changing the robot location (manual)
Only one operation on the robot location can be used at a time (i.e. rotating the robot’s location or dragging the robot’s location).

Tap the option 'Robot location (manual)' in the menu 'Advanced' to alter the location of the robot on the map (marked in blue).

MenuAdvancedManual

This will automatically select the robot’s own POI, which can then be dragged or rotated to the correct position.

Only one operation can be used at a time (i.e. either move the robot’s location on the map or rotate the robot’s location). To move and rotate the robot’s position, first move the robot’s location to the new (approximate) location and then rotate the robot’s location.
Changing the robot’s location (automatic)

Tap the option 'Robot location (automatic)' to make the robot scan the environment for its own location on the map.

MenuAdvancedAuto
This option is recommended if the robot is near its charging station.
Resetting the robot to the charging station
Only one charging station should be defined before using this option.

Tap the option 'Reset current position to charging station' in the menu 'Advanced' to place the robot on the charging station.

TapResetToChargingStation
This option is only available if the robot is docked with a charging station.

Monitoring

The page will only be shown if supported by the robot. For this chapter, an example of a Cruzr set up for 'Temperature' and 'mask'-detection will be used.
At the time of writing, this option is only available for specialised Cruzr-robots.

The monitoring-page has been designed to display and configure alarm-events sent by the robot. Tap the option 'Montioring' in the menu-bar of ZBOS Control to display the following page:

Overview
Surveillance-events (by using the motion-detection-block) will not be shown in this list. Open the page Surveillance for these events.

Filtering the list of alarms

At the top of the list, the options for filtering and sorting the list is shown:

OverviewSort

Sorting the list

Tap a property of the event to sort the list (e.g. 'Date'):

TapSort
Tapping the property again will sort the list in reverse order.

Filter the list

Tap the icon md funnel to display the options for the event:

TapFilter

A modal will be shown with the available filter-options for the alarms:

OverviewFilter
  1. List of all types of events

  2. List(s) of options for each type of event (e.g. 'Mask')

  3. Apply the filter

The options for the type of event will only be applied if the event has been selected.

Filter by event-type

Tap the option 'Check/Uncheck all' in the 'Type'-section of the modal to toggle viewing all events-types:

TapFilterTypeCheckAll

Tap the checkbox next to a specific event in the 'Type'-section of the modal to toggle viewing this type of events in the list of alarms:

TapFilterTypeCheckOne

Filter by event-options

The alarm-type 'Mask' will be used in this example. The same principles outlined here can be used for other event-options.

Tap the option 'Check/Uncheck all' in the section for 'Mask' of the modal to toggle viewing all events-types:

TapFilterMaskCheckAll

Tap the checkbox next to a specific event in the section for 'Mask' of the modal to toggle viewing this type of events in the list of alarms:

TapFilterMaskCheckOne

Apply the filter

Tap the icon md check in the top-right of the modal to apply the filter to the shown list of events:

TapFilterCheck

Exporting the list of selected alarms

The 'Export'-button will only be shown if at least one event has been selected.

Selecting the events to export

Tap the checkbox at the top of the list to select/unselect all alarm-events to export:

TapCheckAll

Tap the checkbox next to a specific alarm-event to select the event for exporting:

TapCheckOne

Exporting events

Tap the button 'Export' to download a summary of the events:

TapExport

A modal will be shown asking for details of the export:

OverviewExport
  1. Enter a filename to export

  2. Select the type of export (Microsoft Excel or CSV)

  3. Tap the export-button to download the requested events

Selecting the export-format

Tap the option for the type of file to export to display a modal asking for the format. Tap the filetype for the export and tap the option 'OK' to apply the option:

SelectExportFormat
The rapport will be saved in the folder 'Download/ZBOS/Monitoring' on tablet/smartphone.

Configuring the alarms

The new settings will be applied for future events, the current list of events will be unaffected.
The example below only applies for specialised Cruzrs.

Tap the icon ionicon gear to display the options for the alarms on the connected robot:

TapConfigureEvents

A modal will be shown with the options for the alarms:

OverviewConfiguration
  1. Set the options for 'Mask'-type alarms

  2. Set the options for 'Temperature'-type alarms

  3. Tap the md check-icon to apply the settings (future events only)

Mask-events

The following options are available for 'Mask'-events:

Setting Information

Enabled

Toggle this option to allow alarms of for when people are wearing face-masks.

Retention days

Set how long the additional information (e.g. screenshots) should be stored on the robot.

Temperature-events

Setting Information

Enabled

Toggle this option to allow alarms of for when people are wearing face-masks.

Retention days

Set how long the additional information (e.g. screenshots) should be stored on the robot.

Temperature treshold

Set the temperature treshold for sending an alarm (e.g. An alarm should be sent if the detected temperature is above 36°C ).

Viewing details of an alarm-event

Images may not be available for all custom Cruzrs due to GDPR-regulations.

The following options are available for events:

OverviewEvents
  1. Check or uncheck the event for export (see Exporting the list of selected alarms)

  2. Display the image taken at the time of the event

  3. Summary of the event

  4. View details of the event

Display the image

If the icon is shown in red (EventWithoutPreview), no previews are available. Only if the icon is shown in greed (EventWithPreview)

Tap the icon md photo green for an event to show the picture taken at the time of the alarm:

TapPreview

An overlay will be shown with the image:

PreviewOverlay

Tap the icon in the top-right corner of the preview to close the display.

Previews will not be available on the custom Cruzr when: * Alarm is sent for a 'mask'-type event. * When connected using the cloud for events before the account was linked to the robot.

Display the alarm-details

Tap the info-button md information to view more information on the event:

TapInfo

A modal will be shown with information on the event:

EventDetails

Tap the icon to close the modal.

Surveillance

The tablet/smartphone needs internet-access to retrieve the images.

The page 'Surveillance' is used to view the images recorded by the robot while the robot was executing the Motion detection-block in a composition.

Only the images uploaded to the cloud will be shown in this page.

These images are stored on a server from ZoraBots and are only accessible if the correct serial number has been entered when connecting to the robot.

The serial number for the robot will be entered automatically when connecting ZBOS Control to an up-to-date robot.
  • When scanning the QR-code of the robot in ZBOS Control, the serial number will have been entered correctly in the settings of ZBOS Control.

  • The setting Upload must be enabled in the Motion Detection block of the composer to upload the image to the ZoraBots server (and therefore be shown in the surveillance-page).

  • The images stored can be removed at any time by the user.

Tap the option Surveillance in the menu for ZBOS Control to open the page:

TapMenuSurveillance

The following page is shown:

Overview
The default timeslot is set to one week (from 'today').

Filtering the list of images

The top of the page displays the options for the list of security-images:

OverviewFilter
  1. Set the start- and end-date for the security-images

  2. Sort the list by date taken

Setting the time range

Tap any of the date-fields (e.g. Start-time) to display the options:

TapStartTime

Enter a date in the shown modal and tap the option 'Done' to apply the new setting:

SetDate
The display for the modal asking for the date will differ greatly the platform running ZBOS Control (e.g. Android, iOS, Chrome, …​).

Sorting the list

By default, the list will be sorted from the newest image to the oldest image.

Tap the field 'Descending' to toggle sorting the list from old to new or vice versa:

TapSort

Details of the security-images

The list of images for the set time range is shown in the main window:

ImageList

The image is split in two parts:

ImageExplanation

On the left side of the image, the image is shown before motion was detected, while the right side of the image shows the main camera-feed at the time the image was uploaded.

The list of images is not updated when new images are taken, meaning if if the timeslot includes 'now', the page needs to be reloaded for the image to be displayed in the list. To manually update the list, please

  • Navigate to a different page in ZBOS Control and return to the Surveillance page

  • Select a different start-time to retrieve the latest list of images from the server.

Viewing images in full-screen

Tap on any security-image to display (a slideshow of) the image(s) in a fullscreen overlay:

OverviewFullScreen
  1. View the details of the security-image (time taken)

  2. Navigate through the images using the arrow or the page-indicators at the bottom of the screen

  3. Tap the icon Trash to delete the current image from the server

  4. Tap the icon to close the fullscreen overlay

The back- and next-arrows will be greyed out for the first and last image in the list respectively.

Displaying all images

Tap the button 'Show all images' to display all images taken 'today':

TapShowAll
This option will only be shown if no images are available during the selected timeslot.

Simple composer

A separate manual detailing the simple composer can be found here

Advanced composer

A separate manual detailing the advanced composer can be found here

Scheduler

This option is only available on ZBOS Control v0.0.22 and later.

Introduction

In addition to manually starting compositions or defining a single composition to run if no activity has been detected for some time, ZBOS Control now provides the ability to schedule when the robot should run certain actions.

For easier user-interaction, a system similar to the creating appointments in Google Calendar is used.

Normal operation can still be used while the scheduled composition is running.

Terminology

The following terminology is used for this chapter:

Term Explanation

Scheduler

The page in ZBOS Control showing the schedule in a calendar-view.

Schedule

The programmed series of events in the scheduler.

Event

A programmable action the robot can take at specific times.

Composition

A dataset containing a series of actions the robot will take.

Timeslot

The period during which the linked action will be executed.

Using the scheduler

Certain composition-blocks bring certain limitations in the execution of other actions, such as starting a video while a video is already playing or accessing the camera for both movement detection as well as manually monitoring the event. It is highly recommended to create a composition stored on the robot and scheduling to play the composition should more complex actions be required.

Tap the icon ZBOSControlLogo to open the menu in ZBOS Control and tap the section marked Scheduler to show the scheduler-page.

OpenSchedulerPage

Overview

This page contains the following sections:

PageOverview
  1. Display-options (Month,Week or Day)

  2. Selection-field (Change the date/week/month using the arrows)

  3. Settings (New/Upload/Download)

  4. Calendar view (Contains the scheduled events)

  5. Start/Stop button

  6. Add new event

Use the following sequence when uploading a schedule to the robot.

  1. Stop the scheduler

  2. Download the schedule from the robot

  3. Add event(s) to the schedule

  4. Upload the schedule to the robot (optional)

  5. Start the scheduler

Changing the view of the scheduler

Tap the icon md menu to open the available display settings. Tap the available option to change the view as shown below.

Day Month Year
ViewDay
ViewWeek
ViewMonth
Events cannot be added while in Month-view. Tapping a specific date will open the Day-view, where the event can be added instead.

Available actions

The scheduler can contain an entire composition or just a single composition-block of the simple composer. See the chapter Simple composer for more information on the available blocks and their required setting.

All block-types are shown, but only the available actions will be taken (e.g. James will not dance or Cruzr will not go to a POI on a James-map, …​).

Creating a new schedule

A new schedule will automatically be created when starting the app for the first time.

Tap the button New in the Settings ( md more ) to start a new schedule.

Downloading the schedule from the robot

Downloading the schedule from the robot will cause the schedule loaded in ZBOS Control to be overwritten.

Tap the button Download from robot in the Settings ( md more ) to apply the currently stored scheduled in ZBOS Control.

MenuDownloadFromRobot

Tap the desired schedule to download from the robot and tap the button Download to load the schedule in the current editor.

Before adding events to the schedule, download the currently stored schedule to ZBOS Control to avoid overwriting existing events.

Adding an event to the schedule

  • It is highly recommended to stop the scheduler while altering or updating events.

  • Before editing the scheduler on a new device, download the stored schedule first.

There are 2 ways to add an event to the schedule, specifically:

  1. Tapping the time-slot in the calendar-view

  2. Tapping the Add-button ( md add ) to schedule a new event

In either case, the modal for adding a new event will be shown. The only difference being the starting-time that will be set to the current time in the modal (2) or to the start of the time-slot (1).

SchedulerModal
  1. Title of the event

  2. Timeslot (Start and End-time)

  3. Repeat until (No repeat, Hourly, Daily, Weekly, Monthly, Yearly)

  4. Action to be taken by the robot (Additional fields may be provided)

  5. Color of the event in the scheduler

Tap the icon md check to add the event to the schedule.

Examples

The following examples of scheduled events can be shown in the editor:

  • Alarm-clock

The following settings could be used to set an alarm at 5AM, with a repeat at 6AM:

SampleAlarmClockSettings
  • Meeting

The following settings could be used as a reminder for daily meetings at 1PM:

SampleMeetingReminder
  • Surveillance

The following settings could be used to monitor the surroundings:

SampleSurveillance

Editing an event

If the timeslot for the event is too narrow to tap, change to the display to Day to increase the height of the event and switch the phone/tablet to portrait-orientation.

Tap the event in the scheduler to open the modal with the settings for the event.

ScheduledEvents
SampleMeetingReminder

Removing a non-recurring event

Open the editing-window of the event (see Editing an event) and tap the icon md more to open the settings.

ModalOptionDelete

Tap the option Delete to remove the event from the schedule.

Removing a recurring event

Tap the icon md more to display the settings for repeated events:

DeleteRepeatedEvents
  • Tap the option 'Delete event' to delete only the selected event.

  • Tap the option 'Delete this and following events' to delete all future events (current event included).

  • Tap the option 'Delete all events' to remove all events related to the selected event.

Managing the schedule

The schedule will only be stored in the app by default.

When starting a schedule from the app, a (temporary) schedule will be uploaded to the robot before it will be started. This schedule will be erased every time the app is re-started (e.g. installing updates, rebooting the robot, …​).

To start the schedule every time the robot is started (e.g. Alarm-clock), tap the option Upload to robot to upload the schedule to the robot.

The scheduler needs to be started for the planned events to be executed, even if the schedule has been uploaded to the robot.

Storing the schedule

Only one schedule can be stored on the robot, meaning the currently stored or active schedule will be overwritten.

A schedule can be stored on the robot in 2 ways:

  1. Temporarily by starting the schedule in ZBOS Control

  2. Permanently by uploading the schedule to the robot

In case of the latter option, the scheduler still needs to be started before the schedule will be reloaded on reboot.

Starting a schedule

Tap the start-button (md play circle) to apply the schedule to the robot until the next reboot.

  • This will also change the start-button to a stop-button. If a schedule is already active on the connected robot, the stop-button will be shown instead.

  • The started schedule will only remain active until the robot is rebooted or until an update is applied to the RAIL- or Kiosk-app.

Uploading a schedule to the robot
This will overwrite the existing stored schedule.

In addition to starting a schedule (which will only last until the next reboot or software update), a schedule can also be uploaded to the robot. This will cause the schedule to be applied even if the robot is rebooted.

Tap the icon md more to open the menu and tap the option Upload to robot to store the schedule on the robot.

MenuUploadToRobot
Keep in mind that the uploaded schedule will only be applied on the next reboot if the scheduler is running.
Stopping the scheduler-service

Tap the stop-button (md stop) to stop all scheduled actions (including the uploaded scheduled events).

This will also stop the uploaded schedule from being applied on the next reboot.

Additional settings

In addition to changing the view, the localisation can also be changed.

Tap the icon md more to open the menu and tap the option Settings to open the settings for the scheduler.

LocalisationModal
If the option Automatic is checked (by default), the option 24 hours will not be shown.

Multi-robot mode

The multi-robot mode in ZBOS Control was designed to allow the user to control multiple robots from the same dashboard. For example, multiple camera-views or multiple composer-lists can be shown.

For more information on the available widgets, see Dashboard.

Introduction

The simultaneous robot control, or multi-mode or multi-robot-mode, is used to control multiple robots at the same time. To that end, a new dashboard to connect each widget to an individual robot is used. Instead of one dashboard with all widgets connected to a single robot, the new dashboard can connect widgets to multiple robots at once.

  • Not all widgets are supported on all robots. A message will be shown when the widget is incompatible with the selected robot.

  • Only the dashboard page will be available in multi-robot-mode.

  • The connection can be made locally or using the cloud-account.

Enabling multi-robot mode

Tap the icon md more in the top-right corner of ZBOS Control to display the settings-menu. Next, tap the option 'Settings' to view the settings:

OpenSettings

If necessary, tap the setting 'Simultaneous robot connection mode' to enable the multi robot dashboard:

CheckMultiRobotSetting

Using the multi-robot dashboard

The widgets can be organized into a list of (at most) 5 columns. The blank column(s) will automatically be hidden if no widget is present. For example:

In editing:

Example

In normal output:

Example2

Adding widgets

Tap the in the bottom-right of the multi-robot dashboard to add a new widget to the grid.

The icon can be dragged around, in case some overlap exists with the widgets.
AddModal
  1. Type of widget to add (see Type of multi-robot widgets)

  2. The column to add the widget to (from 1-5)

  3. Relative position of the new widget (top or bottom)

After entering the parameters, the connection to the robot needs to be entered (e.g. IP address of the robot or the robot from the registered robot on the cloud-account).

Local connection

ConnectionModal Networked
  1. Connection-type = Network (default)

  2. Enter IP-address of the local network

Cloud connection

ConnectionModal Cloud
  1. Connection-type = Cloud (login required)

  2. Select the robot from the list

Type of multi-robot widgets
All the modals available in the multi-robot dashboard are also available in the Dashboard. The modals will have an added title-bar to change the connection (if necessary).

The following types of widgets can be added to the multi-robot dashboard:

Widget Explanation

Chat

(all robots)

This widget sends a message to the robot to speak.

Composition List

(all robots)

This widget shows the composition stored on the robot.

Interaction List

(Cruzr or Zora)

This widget shows the list of interactions available on the robot.

Camera Controls

(Cruzr or James)

This widget displays the mini-camera screen, takes a photo or enables the feed from the tablet/smartphone to the robot.

Movement

(partially supported for head-movement)

This widget displays the movement-controls (in a separate list for head-movement).

Quick Responses

(all robots)

This widget displays the Quick responses stored in ZBOS Control (not the robot) and can execute them on the connected robot.

Camera

(Cruzr or James)

This widget shows the currently selected video-feed from the robot.

Map

(Cruzr or James)

This widget shows the currently selected map. No movement-controls are available for this widget. It can be used to add the current position as a POI to the map.

Map List

(Cruzr or James)

This widget displays the POIs available on the currently selected map on the connected robot.

If both head- and body-movements are needed, add two movement modals and select a different movement-type from the list in the header of the widget.

Changing the robot-connection

Tap the header of the modal to open the connection modal again and change the settings if necessary.

EditConnection

Editing widgets

Like the 'Add'-button, the 'Edit'-button can also be dragged in case it should overlap with the shown widgets. In addition, when switching back to normal mode, the icon will remain in the last known position.

Tap the icon in the top-right corner of the dashboard to enable the edit-mode.

While the edit-mode is active, the following operations are available:

  • Tap a widget to show or hide the widget.

  • Drag a widget to another location to switch the location.

For more information, see the Dashboard-page.

Deleting widgets

Open the Edit-mode and tap the cross in the top-right corner of the widget to remove it from the dashboard.

DeleteWidget
Resetting the multi-robot dashboard

Other than removing the widgets one by one, the dashboard can be reset to the default values.

While in Edit-mode, tap the icon ionicon gear to open the settings for the multi-robot dashboard. Tap the option 'Empty dashboard' to remove all the widgets from the list:

EmptyDashboard

Managing dashboards

The same operations for the normal dashboard can also be used in the multi-robot dashboard.

For more information, see Modifying the dashboard.

  • The option 'Hidden widgets' will not be available while in multi-robot mode.

  • The list of normal dashboards and multi-robot dashboards are separated, meaning the normal dashboard cannot be used in multi-robot mode and vice versa.

Changelog

v1.1

Added

  • Dashboard management (Multi-robot and normal layout)

  • Navigation mode (Mapping)

  • Scanning mode (Mapping)

Changed

  • Updated to ZBOS Control 1.4.5

  • Dashboard page

  • Steering page

  • Localisation page

v1.0

Changed

  • Updated to ZBOS Control v1.2.0

We sincerely hope our robot 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.

Documentation Portal

Documents

Website

zorabots.com

Ticketing

Ticketing service

Telephone

+32 59 20 03 11

Address

Archimedesstraat 17
8400 Oostende
Belgium

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