Introduction

Thank you for purchasing Cruzr with the Zorabots Operating System (ZBOS).

Cruzr is an autonomously moving robot, that listens to voice-commands and responds or acts accordingly. It can move to a location, start apps on the tablet or say the current weather report for example. The software for Cruzr has been designed to be highly customizable when interacting with humans (i.e. Kiosk app), can be used to ask customers for feedback (i.e. Survey app) and can navigate a map once it has been learned.

In addition to these (basic) functions, Cruzr can also move the arms while speaking, to ease the interaction with humans. This feature is also reflected in the composer-page of ZBOS Control (the app used to configure compositions on the robot). In the composer-page, the user can manually move the limbs to certain predefined positions while in the middle of speech or while playing a video on the robot.

The most useful feature would most definitely be the ability of the robot to move (somewhat) freely on a stored map. This map can be customized to fit the environment, and can be adjusted with points for the robot to move to or contain virtual walls to limit the area Cruzr is allowed.

A specialised edition with additional temperature-monitoring was created. For more information, see Epidemic edition

Terminology

The following terminology is used throughout this document:

Term Explanation

Tablet

A tablet or smartphone where the ZBOS Control App has been installed.

App

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

RAIL

An application installed on the robot to allow communication between the different apps.

User-data

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

Kiosk

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

Quiet hours

The quiet hours are the times when the robot should not be in use, and certain automatic features are disabled during this time (such as notifications).

Specifications

Item Specifications

Dimensions

1210(H) * 630(W) * 537(D)(mm)

Weight

≈45KG

Color

White

Materials

Titanium Alloy Structure,PC+ABS Shell

Battery

25Ah 25.6V Iron Lithium Battery

Screen

11.6-inch HD touch Screen

Camera

1 x 13MP HD Photo, 1 x RGBD Depth-Sensing Camera

DoF

15, specifically: 13 DoF of the body (Arm 5 * 2, Head 1,Shoulder 2) + 2 * Hub Motor

OS

Android (Application Layer) + ROS (Control Layer)

Networking

Wi-Fi 2.4G/5G,Support 4G module as an option

Velocity

0.3m/s, 0.5m/s, 0.7m/s

Accessories

1 Recharging dock + 1 power adapter

Interface

2 USB interface,2 HDMI interface

Sensors

Location Specifications

Head

6+0 MIC array * 1 + Cliff Sensor

Waist

RGBD Depth-Sensing Camera * 1

Arms

E-Skin 3 * 2

Chassis

Infrared * 7 (1 Recharge + 6 Ground Inspection)
Sonar Sensor * 6
9-axis IMU * 1
Laser Radar * 1
Temperature and Humidity Sensor * 1

Additional Head-mounted camera

This option is only available for modified versions of Cruzr:
Specs1
Specs2
Specs3
Specs4
Specs5
Specs6
Specs7

Indicator Light

Color Status

Weak light, pulsating

Sleeping or hibernating

Normal light, pulsating

Activated

Red light, Fast blinking

Warning: Emergency (collided with an obstacle, got dragged)

Normal light, not pulsating

Charging

Green light, breathing

Battery between 40-100%

Yellow light, breathing

Battery between 20-40%

Red light, breathing

Battery between 0-20%

Limitations of the Lidar system

The following limitations apply to the used lidar system and subsequent mapping process:

Map

  • Sight distance (or object-detection) of 16m

  • Maximum length and/or width for a map is 100m (theoretical area = 10000m²)

  • Highly recommended surface area for the map is 1000 m²

  • Detection of the LiDAR at 12 cm height above the floor

Material restrictions

The following limitations apply to the detected material

The LiDAR signal is ineffective against glass, stainless steel and pure black materials.
For glass walls, 6cm wide opaque materials should be attached, centering at a height of 12cm.
The RGBD sensor is ineffective against black light-absorbing materials and glass.
The ultrasonic sensor is ineffective wave-absorbing materials (e.g. acoustic absorbing or foam materials).
The ground IR is ineffective against complex surfaces (e.g. checkered surface in black/white or stainless steel)

Examples

The following examples could cause problems for being detected

  • Glass wall

GlassWall
  • Borderless table

Table
  • Desk Chairs

DeskChair
  • Table and chairs with stainless steel legs

AluminiumFeet
  • Stainless steel and black-and-white surfaces

Surfaces
  • Steps/objects lower than 12 cm

LowSteps

Recommendations for mapping

ZoraBots recommends using the following procedures when creating a map:

  • Stay behind the robot when creating/updating a map

  • Drive close to the walls / reflective surfaces to improve the data quality

  • Drive in a straight line as much as possible

  • Drive slowly so the map is filled in completely after one or two pass(es)

  • Turn the robot a full 360 degrees (while staying behind the robot) at regular intervals

  • Create virtual walls to contain the robot and/or to create safety-zones where the robot really shouldn’t go

Getting started

This section will describe how to start using your Cruzr robot.

Please keep the original box in case the robot ever needs to be shipped.

Features

Cruzr robot

Front view
cruzr front numbered
  1. Microphone Array

  2. Hi-Res Camera (13 megapixels)

  3. HD Touchscreen

  4. TOF Sensor (only on models with serial number above XXX)

  5. Speaker (tablet)

  6. E-skin

  7. Indicator Light

  8. Ultrasonic Sensor

  9. RGBD camera

  10. Laser Radar

  11. Speaker (lidar)

  12. Ultrasonic sensor

  13. Hub Motor

Side view
cruzr side numbered
  1. E-skin

  2. Automatic docking and recharging

  3. Speaker

Back View
cruzr back numbered
  1. Microphone Array

  2. Emergency Stop Button

  3. On/Off Button

  4. Debugger Interface

  5. Laser Radar

  6. Magnetic Charging Socket

  7. Recharge Infrared Receiver

  8. Hub motor

  9. 2 Inches Omni-Directional Wheel

Top View
cruzr top numbered
  1. HD Touchscreen

  2. Hi-Res Camera (13 megapixels)

  3. Microphone Array

Bottom View
cruzr bottom numbered
  1. Infrared Sensor

  2. Copper Electrode Strip

  3. Hub Motor

  4. 2 Inches Omni-Directional Wheel

  5. Magnetometer

  6. Infrared Sensor

Charging Dock

Charging Dock Front View
cruzr charging station numbered
  1. LED Indicator Light

  2. Radar Identification Board

  3. Infrared Emitter

  4. HALL Sensor

  5. Electrode Contact

Charging Dock Back View
cruzr charging station back numbered
  1. Magnetic Charging Plug

Setting up the Charging Dock

cruzr charging station cruzr charging station back

Installation
  1. Connect the adapter with the charging dock and place it against a wall.

  2. The floor should be smooth and dry. A place where not a lot of people pass by is recommended.

  3. Placing the charging dock in an area with at least 2.5m of space in front and 1.5m of space on each side is recommended, as shown in the figure below.

  4. Avoid having smooth white walls within 3.5m in front of the charging dock.

cruzr cs positioning

Initial setup

Once the robot has been connected to the charging station and is charging, the initial setup can be performed. Push the On/off button (see the Back View) to turn Cruzr on.

Once the robot has been turned on for the first time, the initial setup will start. This setup contains the following steps:

  1. Selecting a language for the setup

  2. Setting up the wifi (optional)

Language Selection

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

LanguageSelection

This language will be used for:

  • The remaining setup-display (display-language)

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

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

  • The subsequent default-language for starting kiosks and/or voice-commands (These options can be changed later in the settings)

Configuring the WiFi

The next step is to configure the WiFi. Tap the name of the prefered network, enter the password and tap the button Connect.

Wifi
When re-running the initial setup, the wifi information doesn’t need to be entered if the network is known.

Connecting to the robot

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

ConnectionPage

Scan the QR-code shown in ZBOS Control to connect to the robot. For more information, see the manual for ZBOS Control (Manual ZBOS Control)

Interacting with Cruzr

There are several ways to interact with Cruzr (especially during games or custom compositions), but the main control-method is by using voice commands, by using the tablet or by using the ZBOS Control app.

Power options

Powering Cruzr on

Use the following steps to power Cruzr on:

  • Tap the power-button at the bottom if the robot isn’t powered on yet.

  • Hold the power-button at the back of Cruzr down until the main light is flashing.
    Release the power-button to power on Cruzr.

Powering Cruzr down

Use the following steps to power Cruzr down:

  • Swipe down the screen with at least 3 fingers to show a screen asking for a PIN-code

  • Enter the password (by default: 111111)

  • Tap the option 'Just once' when asked which launcher to use to start the link

  • Tap the power-button in the top-right corner of the Ubitech default launcher

  • If a popup is shown asking to shut down, tap it to shut the robot down
    Otherwise, hold the power-button at the back of the robot to shut it down

Emergency shut-down procedure

Use this option only in emergency.

Tap the power-button at the bottom of the robot to shut the robot down

Voice Commands

Cruzr can be controlled (to a certain extent) by using voice-commands.

Cruzr will listen to pre-programmed voice commands after the wakeword OK Cruzr has been understood. Stand in front of the robot for the best results.

If the setting Rotate the robot when hotword is recognized is enabled, the robot will even turn to the source of the sound.

Settings

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

  1. Listen to voice-commands

  2. Rotate the robot when hotword is recognized

Listening-status

The microphone at the bottom of the home-screen on the tablet can also be used as an indicator to see if Cruzr is listening.

Not listening

Listening

NotRadiating
Radiating

Prerequisites for the voice commands

Not all voice commands can be used all of the time, the following conditions must be set in order to use (some) voice-commands.

  • Settings of the robot

The setting 'Spoken commands' in the general settings needs to be turned ON before the robot will respond to the wakeword "OK James" and start listening.

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

Certain features require an active internet-connection to retrieve the latest data and to keep up-to-date (e.g. Weather, Verklizan or installed apps).

  • VoIP

In addition to having a connection to the internet, a stable connection is needed to make calls using VoIP-services (the minimum bandwidth needed for a VoIP-call is between 85 and 100 kpbs). The section VoIP / SIP in the settings has been created to enter the account-information needed to call the Verklizan helpcenter (or any other VoIP-service). A SIP-account needs to be registered at Verklizan before any VoIP-calls to their help-center can be made.

Voice Commands

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

Command Actions taken by the robot

Call help

Triggers an alarm at Verklizan. (1) (2)

I need/want help

What is the date of today

What is the date (today)

The robot states the date according to location specifications.

What year is it?

The robot states the current year.

What’s the day?

Which day are we today?

The robot states the day of the week (e.g. Monday).

What time is it?

How late is it?

The robot states the time as hour + date.

Hello

The robot states a self-introduction.

Goodbye

The robot says goodbye.

Introduce yourself

Who are you

The robot introduces itself

What will the weather be like this morning / afternoon / evening?

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

What is the weather for today

What is the weather forecast for today

The robot states the weather forecast for the day.

What will the weather be like (the day after) tomorrow

The robot states the weather forecast for the specified date.

Go to <Point-Of-Interest>

The robot will move to the registered POI (3).

Enable/disable offer more help feature

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

(1): This option is only available for robots where this option has been installed and configured.

(2): Confirmation is required before the alarm will be triggered and is only available if a valid SIP- and VoIP is configured in the settings of James. #

(3): The correct map needs to be loaded on the robot.

Advanced features

Cruzr also features the following additional settings:

  1. Turn to the source of the voice

    • Cruzr will turn to the direction of the voice if the wake-word has been understood and the option ‘Rotate the robot when hotword is recognized’ is enabled.

  2. Display the command in the kiosk

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

  3. Start an activity when no input has been detected

    • Cruzr can start an activity (composition, moving to charging station, …​) if no input has been detected by the user for some time. This action can then be stopped by any user-interaction (speech, tapping the tablet, …​)

Tablet

Kiosk app

The Kiosk app is the default launcher for Android-powered ZoraBots-robots (e.g. James/Cruzr). This app is used as:

  • Main display

  • User-interface to configure features

  • Platform to launch other apps

For more information, see the Kiosk-manual

ZBOS Control app

The ZBOS Control app (avaiable for iOS or Android-devices) can be used to control Cruzr. This app can be used to create custom compositions or kiosk-datasources and manually control Cruzr.

In addition to the app, an online platform (https://control.zoracloud.com) is also available for registering and controlling a Cruzr-robot.

For more information on using ZBOS Control or the online platform, see https://docs.zoracloud.com/manual/Apps/ZBOSControl/Manual.html.

By using the online platform, you agree to our Terms and Conditions for use.

Epidemic edition

This specialised edition was created to aid in epidemic prevention.

Cruzr scans people safely to check for elevated temperature and face mask. When certain configured conditions are met, an alarm is generated which can then be the trigger for a series of actions performed by the robot, or notifications pushed to ZBOS Control so that staff can take appropriate measures.

The robot has been equipped with an additional thermal camera (see Specifications) to perform these tasks.

CruzrEpidemic
Camera 1

Required software

The following apps need to be installed on the Cruzr Epidemic:

  • App 'Temperature' (by UBTech)

  • ZBOS Kiosk v1.5.1+

  • ZBOS RAIL v1.4.1+

Features

The following features were specifically designed for this version of Cruzr:

Temperature monitoring

The thermal imaging camera will scan the face of every person passing by the camera. If the scan-results indicate that the conditions are met (e.g. detected temperature is higher than threshold or face mask is worn incorrectly), a photo will be taken of the person and an alarm-event will be sent to the robot and any connected ZBOS Control app.

Capturing photos may not be available in your region due to local privacy legislation. For example, in EU this feature is not activated in order to comply with GDPR-regulation.

The photos will be only be stored for a predefined interval on the robot, and when available, pushed to a cloud storage account.

Customizable options in ZBOS Control

Tap the gear-icon (ionicon gear) in the toolbar of the Monitoring-page in ZBOS Control to display the available options for the alarm-events:

ControlOptions

Mask

Enable

If this option is checked, an alarm will be sent when people are wearing their face mask incorrectly (or not at all).

Retention Days

Set the time for how long the images and alarm-events will remain stored locally on the robot.

Temperature

Enable

If enabled, an alarm will be sent when someone has been detected with a body temperature higher than the threshold.

Retention Days

Set the time for how long the images and alarm-events will remain stored locally on the robot.

Temperature threshold

Set the minimal detected temperature before an alarm will be sent (in degrees Celsius °C).

Tap the check-button (md check) in the top-right corner to apply the changes for new events.

Additional options

Each alarm-event will be sent with certain properties, which can be used to filter the list of events in ZBOS Control. Tap the filter-option (md funnel) in the Monitoring-page in ZBOS Control to display the available options:

AlarmOptions

Filter by Type

Tap to toggle the display of alarm-events for:

  • Temperature-events

  • Mask-events

Filter Mask alarms

Tap to toggle the display of alarm events:

  • Yes: Someone was detected wearing a face mask correctly

  • No: Someone was detected wearing no face mask at all

  • Incorrectly: Someone was detected wearing a face mask incorrectly

This will only change the display of the items in ZBOS Control, the list of triggered events will still be available on the robot.

We sincerely hope Cruzr 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

Documentation

Website

Website

Ticketing

https://support.zoracloud.com

Telephone

+32 59 20 03 11

Address

Archimedesstraat 17
8400 Oostende
Belgium

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