Introduction

This manual requires the following versions to be installed on the robot: Kiosk v1.3; RAIL v1.2

James is an autonomously moving robot, that listens to voice-commands and responds or acts accordingly. It can move to a location or say the current weather report for example. The software for James has been designed to respond to the voice(s) of user(s), to let the robot move to specified locations or Points-Of-Interests (POI’s) and/or show information on the display.

James can also be used to control certain parts of a smart home (i.e. turn the lights on or off, open doors, …​). These advanced features require customisation of the smart home and will therefore not be detailed in this manual.

James will continuously scan the immediate environment using laser-detection (called LIDAR-system). This system is installed in the base of the robot and the generated map can be adjusted using the ZBOS Control App (available for Android- or iOS-systems) or using the online cloud-control website (1), meaning the owner can add areas where James is not allowed to enter or to place James in the correct position on the map.
James can also display the map on the tablet-screen by using the SLAM app, which is installed by default. This feature is provided so the user can follow the route that James will take to a POI.

James will try to position itself on the loaded map when it is booted up. By connecting James to the charging station whenever the robot is (re-)started, the robot’s position will be re-calibrated to a fixed point, thus improving the reliability of the mapping system. The ZBOS Control App is available for Android and iOS-systems. These tablets or smartphones are not included in this package and need to be bought separately. For more information on the required specifications for the tablets, see the chapter 'Recommended system requirements'.
To provide the latest installations on the robot, updates will be installed periodically if/when the robot is connected to the internet.

Terminology

The following terminology is used throughout this document:

Tablet

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

App

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

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.

RAIL

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

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).

Getting started

This section will describe how to start using James straight out-of-the-box.

The original box is needed should the robot need maintenance.

Assembly

Out of the box

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

Lift the cover

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

LiftCover

Place it to the side before continuing.

Remove the accessories

Remove the charging station (1), power-cable (2) and quick guide (3) from the top of the box.

LiftAccessories

Put them aside for now.

Remove the styrofoam cover

The following steps should be used to unpack James.

  • Lift the cover off the robot

LiftTop
  • Split the middle styrofoam cover to reveal James

SplitMiddle
  • Lift James out of the base-styrofoam

LiftJames

Re-assemble the box

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

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

  2. Place the styrofoam cover on top

  3. Cover the styrofoam with the cardboard cover

ReAssembly

Charging James

Once removed from its protective cover, the robot needs to be fully charged before it’s first use. It is recommended to use the charging station.

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

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

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

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

The 'eye' on top of the charging station needs to be spotted by the robot to find the charging station. In case the socket is on the other side of the charging station, make sure the cable is behind the sensor on top of the charging station.

Placing the charging station

Before placing the charging station, ensure the intended location meets the following requirements:

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

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

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

For example:

InvalidLocations

Once the location has beeen validated, the charging station can be placed.

ValidSetup temp

Charging James on the charging station

For James to always have its correct position on the loaded map, the robot should always be started while on its charging station.

Move the robot by hand when it is still turned off so the connectors at the back of the robot connect to the connectors on the charging station.

Charging indicator

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

LitPowerButton

Recharging James

You can tell James to go to the charging station, press "Go to charging station" on the battery icon in Kiosk, or use ZBOS Control to go to a charging station.

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

  • Turn the robot off

  • Connect the robot to the charging station

  • Turn the robot back on

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

Initial setup

Once the robot has been connected to the charging station and is charging, the initial setup can be performed. Push the power-button to turn James on.
Once the robot has been turned on for the first time, the initial setup will start.

Language Selection

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

This language will be used for:

  • The remaining setup-display (display-language)

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

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

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

Microphone Calibration

The next step is to calibrate the microphone. The microphone needs to be calibrated every time the robot is booted.

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

MicrophoneCalibration

Configure the WiFi

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

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

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

Wifi

Connecting to the robot

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

ConnectionPage

Scan the QR-code shown in the connection-page of ZBOS Control to connect to the robot. For more information, see the manual for ZBOS Control.

Hardware

James is a humanoid robot built by Siasun and equiped with ZoraBots operating system (ZBOS). The main focus when developing James was to make a robot that can guide users to specific locations.

James will interact with the user using the tablet and the microphones and speakers installed in the head and body of the robot. James will also continuously scan the environment using the SLAM-system installed in the base of the robot.

Specifications

General

James has the following specifications:

Dimensions

420 mm x 420 mm x 800 mm (LxWxH)

Weight

17 kg (including the packaging)

Base station

240 mm x 85 mm x 95 mm (LxWxH)

Operating temp

0 - 40 °C

Operating humidity

20 - 90%

Maximum operating time

9 à 12h

Tablet

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

CPU Model

MSM8953

Number of cores

8 (Qualcomm MSM8953)

Clock speed

2.0 GHz

RAM

3 GB

Internal Storage

32 GB

Touch-screen

10" capacitive high sensitivity screen

Camera-resolution

13 MP

Peripherals

The following peripherals have been connected to the tablet:

Name

Description

Location

Microphone array

6 microphone ring-array

At the top of the robot

Speaker

5W hifi speakers (x2)

At the side of the main body

Features

The peripherals contain the following specifications:

Audio-detection range

360°

Echo cancellation

Supported (available)

Speech enhancement

Supported (available)

Voice wake-up

Supported (available)

Connectivity

James can connect to other devices using the following specifications:

WIFI

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

4/5G

Unsupported

Bluetooth

Bluetooth Version 4.0

Wifi specifications

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

Chipset

MT7628AN + MT7612E

Main frequency

580MHz

Wireless transmission rate

1167Mbps

2.4GHz channel selection

1-13

2.4GHz channel bandwidth optional

20M 40M

5GHz channel selection

36 40 44 48 149 153 157 161 165

5GHz channel bandwidth optional

20M 40M 80M

SLAM

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

Lidar

Bumpers

2 (at the side of the base)

Scanner

1 (scanning to the front)

Power connector

1 (at the back of the base)

Power button

1 (at the back of the base)

Microswitches (1)

2 (at the back)

IR-detector (1)

1 (at the back)

Wheels

Omnidirectional
Tripod configuration

(1): These are needed to make the robot dock with the charging station.

Lidar

The installed Lidar-unit has the following specifications:

Item Unit Min Typical Max Comments

Distance range

Meter (m)

0.15

-

8

Based on white objects with 70% reflectivity

Angular range

Degree

0

-

360

Distance Resolution

mm

-

<0.5

-

<1.5 meters

Sample Frequency

Hz

2000

8000

8010

Sample Duration

Millisecond(ms)

-

0.125

-

-

Scan Rate

Hz

5

10

15

The rate is for a round of scan. The typical value is measured when RPLIDAR takes 400 samples per scan.

Laser wavelength

Nanometer(nm)

775

785

795

Infrared Light Band

Laser power

Milliwatt (mW)

-

3

5

Peak power

Pulse length

Microsecond (us)

60

87

90

-

Battery

The battery installed in James has the following specifications:

Type

Lithium-Ion 18650

Voltage

14.4V

Capacity

13Ah

Energy

187.2 Wh

Interacting with James

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

Voice Commands

James can be controlled by using voice-commands.

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

Supported languages

The currently supported languages on James are the following:

Language ASR / Listening TTS / Speaking

Japanese

No

Yes

Thai (th-TH)

Yes

Yes

Hungarian

Yes

Yes

Arabic (ar-WW)

Yes

Yes

French (fr-FR)

Yes

Yes

English (en-US)

Yes

Yes

English (en-GB)

Yes

No

Dutch (nl-NL)

Yes

Yes

German (de-DE)

Yes

Yes

Russian

Yes

Yes

Chinese (zh-CN)

Yes

Yes

French (canadian)

Yes

Yes

The language the robot will listen to can be set in the option speech language of the kiosk. When connecting ZBOS Control and stating messages, only the TTS languages that the robot can speak will be shown.

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

These options can be toggled on or off to suit the user’s needs.

Indicator

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

Not listening

Listening

NotRadiating
Radiating

Prerequisites for the voice commands

Not all voice commands can be used all of the time. Some voice-commands will only be available once the following conditions have been met:

  1. Settings of the robot

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

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.
  1. Internet

Certain features require an active internet-connection to retrieve the latest data and to keep up-to-date.

For example:

  • Weather

  • Verklizan or VoIP/SIP

  • Installed apps

  1. 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

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

  1. Turn to the source of the voice

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

  1. Display the command in the kiosk

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

  1. Start an activity when no input has been detected (inactivity)

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

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

Please refer to the ZBOS Control manual (hosted online) for more information on using ZBOS Control to interact with James.

Safety

This chapter describes the safety precautions that should be taken when using James.

Charging station

The following setup should be used to connect the charging station to the power grid:

Insert the power adapter into the power outlet before connecting the charging station to the power adapter.
ChargingStationSetup

Make sure there is at least 40cm on each side of the charging station and 1m in front of it.

ChargingStationSafetyZone

The following precautions must be taken when setting up the charging station:

  • Charging station must be stable.

The charging station must be placed on a level floor, with straight baseboards (± 10cm).

Incorrect Incorrect Correct

Border1

Border2

Border3

  • Do NOT expose the base station to direct sunlight. This may cause the robot to be unable to find the charging station.

  • Make sure the robot can clearly see the eye on top of the charging station.

The eye on top of the charging station needs to be spotted by the robot to find the charging station. In case the socket is on the other side of the charging station, make sure the cable is behind the sensor on top of the charging station.

Safety guidelines

General precautions

James is not a toy, do not leave children (<8 years) unattended with the robot.
  • Do not spill water or other fluids on the robot. This may cause a short in the internal circuitry, and completely disable the robot.

  • Do not move the robot by hand while it is on. This may cause the operations of the LIDAR-detection system to fail or malfunction. Always turn the robot OFF before moving the robot by hand.

HeatSource

Do not place James directly next to a radiator or other heat sources.

IndoorUse

Indoor use only.

Temperature

Operating temperature between 5°C and 35°C.

Humidity

Operating humidity level between 20% and 80%.

Pinching hazards

Do not touch the following zones unless the robot is turned off:

PinchingZones

Within the indicated zone, your fingers or hand may get stuck if the robot is in operation.

Lithium-Ion battery

The cells/batteries should not be short circuited, punctured, incinerated, crushed, immersed in water, over-discharged, or exposed to temperatures above the declared operation temperature range of the cell or battery.

Risk of fire or explosion may occur in the above condition of abuse. In case of a fire with the batteries, do not use water to extinguish it, use a foam or CO2 extinguisher.

Disposal

BatteryDisposal

Please follow your local regulation and do not dispose of this product with everyday household waste. The correct disposal of your old product will help the environment and human health.

Cleaning the robot

Before cleaning the robot, make sure it is turned off and not plugged into the power grid (charging station or otherwise). ONLY when the robot is completely dry, place it on the charging station and turn it back on.

Cleaning the tablet-screen

To clean the screen on the tablet, use a soft, lint-free cloth, preferably microfiber cloth. Never use a paper towel or other paper-based towels as they can leave scratches on the screen. For fingerprint smudges, dust, and lint, wipe the screen gently using a dry microfiber cloth.

For more stubborn contaminants or stains, lightly dampen a section of a microfiber cloth with water and gently wipe the screen, then go over it again with a dry section of the cloth to wipe away any moisture. Avoid getting moisture in any openings like the speaker or microphone. If the stain remains, you can also try using a mild soap-and-water solution.

Cleaning the plastic surfaces of the robot

Make sure no water can leak into the robot (i.e. base of the robot, microphones, speakers, …). Use a dry microfiber cloth to gently clean the hard-plastic surfaces and use a slightly moist cloth (with general, nonabrasive cleaning agent if needed) to clean harder stains.

Changelog

v0.1:

  • Added basic versioning for the manual;

  • Updated screenshots with volume Control;

  • Changed references to RAIL app (more apt description);

  • Fixed link to Advanced settings;

  • Updated the basic kiosk to match the correct version, including:

    • Added Volume Control section

    • Re-structuring to update to the latest format

    • Improved the additional icons-page

    • Updated settings-page

    • Re-structuring the settings-page(s) to match the new format

    • Updated current pages

    • Re-structured the chapter Settings to match the current list of settings

We sincerely hope James will provide a valuable service to your home or business. Hopefully you will continue to provide us with the desired features or bugs which occurred in the workplace, so we can keep improving and expanding the product.

In case you need to contact us, please use the contact-information below.

Documentation Portal

Documentation

Website

Website

Ticketing

Freshdesk

Telephone

+32 59 20 03 11

Address

Archimedesstraat 17
8400 Oostende
Belgium

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