User Manual - Dr Robot Inc.
Contents
1. Camera IP User Name DrRobot 192 168 0 202 192 168 0 194 192 168 0 199 root Tttttt 192 168 0 198 root Password frttttr Copyright 2009 Dr Robot Inc All right reserved Robot ID Connection Setting C Serial Port 3 58 0 208 Port 10001 Connection Status Network Status i WiFi Connection Connected IP Port 10001 Signal Robust BESEEBHBEBEB Copyright 2001 2013 Dr Robot Inc All Rights Reserved www DrRobot com SE Left Camera Right Camera Power Status m Cameras Login IP 1921680199 Port 8081 IP 1921680198 Port 8082 amp DOG MI nanan Dee Battery 13 44 1780 Using Battery 13 33 using ID root x T ID root p teen DCIN 0 00 Using Power Path Control PowerByBattery PowerByBattery l PowerByDCIN Charge Path Control Charge Battery Charge Battery ll Charge Timer Charge Current Control Click to Increase Full Current Half Current 1A Current Trickle Current Cameras Display Power Switch Control 5ize Channel Channetll Channetlill ON OFF amp ON amp OFF ON OFF Ultrasonic Sensor Power Human Sensor Motion Control Motion Alarm Set Drive Power Set Drive Speed Chassis Control 1 144m 2 149m 3 255m Power 481V Left 1989 2003 m DE 4 2 55m 5 255m 6 255m Motor Power2. 12 76V Right 1883 2010 Right 6384 Right 200 IR Extended IO ITET co 1 081m 2 08im 43 0 8im 4 053m 5 0 81m Input 255 18354 Stop ooo Robot sensor 6 081m sz 081m 8 0 10m 9 081m 10 0 81m Output 0 Set Drive Distance Set Rotation data Motor Sensor Distance 0 5 Turn 45 Enable Motor Protection Unit m Ni dene Encoder Position Encoder Speed Current Feedback HeatProtect StuckState T x Speed ime ime 3000 _ Left Motor 0 0 0 00 False False Tee Te 4 Bp E Right Motor 0 o 0 004 False False ee co Robot position I j Position Information Joystick she bes a Dead Reckoning 0 00 0 00 0 00 GPs 0 7 Enable GPS Sensor MaxPower Joystick Sent Power y X 4960 Left Right dead reckoning v 5000 0 i nr i t Enable Joystick 75 Ortend your imagination ET Joystick Collision Avoidance Drive Copyright 2009 Dr Robot Inc All right reserved www DrRobot com Copyright 2001 2013 Dr Robot Inc All Rights Reserved www DrRobot com sjo amp Dr Robot Sputnik Il Motion amp Power Service Main Sensor Info amp Control Lett Camera ii Voltage Temperature Stat co EN Ue 25 using Using Cameras Control Click Lj to Decrease Cameras Display Size HTTP AV Click 13 to HTTP AV Send Sound to de 6 s Dp Full duplex Full duplex WIEL PUE UNIT Degree C zzi PES Encoder Position Encoder Speed Current Feedback HeatProtect StuckState
3. 7 MitaminControl dll This is the camera control component for the Pan Tilt Zoom camera P N AV PTZ VH used for i90 series robots such as Sentinel Sentinel Sputnik and Sputnik Please refer to PTZ Camera ActiveX Control Reference Manual pdf for detail For support on development using Microsoft Robotics Studio operation system other than MS Windows or raw communication protocol please contact support DrRobot com Copyright 2001 2013 Dr Robot Inc All Rights Reserved wwuw DrRobot com saje Network Connection and Login Information Network Settings As default your PC running the Sputnik Il Control program should have IP settings as below Name Serverpe I Pot 192 168 0 200 Router IP Subnet Mask 255 255 2550 The included pre configured wireless 802 11 b g router has the following pre set settings dri Router LAN 192 168 0 200 le8bits Login ID admin 112233445566778899AABBCCDD Password drrobot Open Key with virtual server settings as followings Virtual Server Sputnik ll Remote Control program 7050 7070 TCP IP 192 168 0 104 WiFi module connects to two serial devices through channel and Il TCP IP port 10001 and 10002 respectively They are pre configured as belou Name Robot WiFi Module 1 a necem 000000 Channel 115200 8 N 1 no flow control UDP Channel ll 115200 8 N 1 flow control UDP Datagram 10001 Datagram O1 remote IP 0 0 0 0 10002 O1 remote IP 0 0 0 0
4. Other wireless devices settings are listed below Nae oe 192 168 0199 8081 root Right Camera 192 168 0 198 8082 Advanced Network Settings It s possible to use different network settings e g IP for the server PC but the Virtual Server settings on the router must also be changed accordingly in order for the Internet remote monitoring feature to work properly You could also change the router settings such as IP and SSID etc If you need to do so you are required to change the network settings on the WiFi modules on the robot by following the guidelines as illustrated on the WiFi Module manual Copyright 2001 2013 Dr Robot Inc All Rights Reserved www DrRobot com a Appendix Power Switching Control Three power sub systems as defined below could be turn on or off individually through the DrRobotMotionPouerControl or DrRobotSputnik IIRemoteControl Program Channel DC DC board lI Main Camera 12V Channel ll DC DC board lI 1 PMS5005 Main power 5V Channel Ill Copyright 2001 2013 Dr Robot Inc All Rights Reserved www DrRobot com 29
5. es te 7 5 if ik I Remote Control 777748 IUE Connected with service P pe Robot Mode MONITOR Human Sensor Left 1994 Right 1996 Motor Sensor Left Right Encoder 0 0 Current 0 004 Power Status HTTP AV HTTP AV Battery DESY Y BD e 1 Full duplex Y 8s e 1 p Full duplex Camera Info Camera Info BEEN IP 192 168 0 199 Port 8081 Connected IP 1921680198 Port 8082 Connected 0 00V Camera Control ON OFF snapshot avinec Stop Pen Reset err Robot P2P Status Manual Control Command Point Num Robot Position Cobol Sent Command Position X Status Distance 0 5 Turn 45 JoyStick Unit m Unit degree x 4960 o coc RE Y 5000 Ties 2000 i 2000 o Unit ms Unit ms Dr Robot Bi D root PN t Set Drive Distance Set Rotation Position Y Jo C tend your imagination Eau mann 7 Joystick Collision Avoidance Drive Copyright 2009 Dr Robot Inc All right reserved www DrRobot com Copyright 2001 2013 Dr Robot Inc All Rights Reserved wwuw DrRobot com 20 Recharging To keep the battery at ideal condition we recommend recharging the robot at least once every two weeks during storage e g robot is not in use Plug the charging plug from the portable charger onto the secondary recharging socket on the back of the robot and then turn on the robot The charging process will norma
6. www DrRobot com Contact General info DrRobot com Technical Support support DrRobot com 25 Valleywood Drive Unit 20 Markham Ontario L3R 5L9 Canada Tel 905 943 9572 Fax 905 943 9197 Copyright 2001 2013 Dr Robot Inc All Rights Reserved wwuw DrRobot com Table of Contents Introduction Key Features Sensors and External Components Operation Scenario Software Installation Server PC PDA Color Touch Screen on the Robot Remote Client Program on Client PC Robot Operations Remote Monitoring and Tele operation Recharging Further Development amp Programming Network Connection and Login Information Network Settings Advanced Network Settings Appendix Power Switching Control Copyright 2001 2013 Dr Robot Inc All Rights Reserved www DrRobot com Ul OO O wo wo O QA ul 19 el el ee ee ee 23 Introduction Sputnik is designed and built on i90 robot base featuring dual high resolution Pan Tilt Zoom cameras Key Features e Dual Max 704x480 pixels max 3Ofps High Resolution Camera with 2 way audio e 3 5 inch color display playing video wmv audio and displaying images e Dimension 43cm L x 38cm W x 38cm H e Fully wireless networked 802 119 e OS independent application development tools e Max speed of 75cm sec e Navigation sensors including 3 sonar and 9 IR range sensors e Comprehensive circuit protection e Max payload 10 kg optional 40 kg with robot weight of
7. 8 kg e Jele operation and remote monitoring e Extended operating time 2 hours nominal operation time for each recharging e Upgrade options O O Navigation and localization providing collision free point to point autonomous navigation Vision landmark base indoor localization indoor GPS position orientation sensor and the landmarks together provide precise position and direction information covering every inch of the floor Auto docking and recharging station Laser scanner Power and battery systems for 6 hours operation time are available Copyright 2001 2013 Dr Robot Inc All Rights Reserved www DrRobot com Bs Sensors and External Components The figure below illustrates the key functional components you will identify on the outside of Sputnik robot Right Camera i NON LED Main Power a e ae Lez m Color Touch a Screen Sonar i Senso IR Range Left Camera Human Sensor Sputnik Overview LED Charging Power Signal Manual Recharging Socket Main Power Switch When the main power switch is on the main power LED will be lit When the robot detects input power from the recharging socket the charging power signal LED will be lit The robot comes with 3 sonar and 9 IR range sensors These range sensors are for environment detection and collision avoidance Front Sputnik Sensor Module Location Top View Copyright 2001 2013 Dr Robot Inc All
8. CD After program installation you will find the following programs under the Start All Programs list and they are installed under the Program Files folder Dr Robot Inc Sputnik ll Control Application data folder is set to C DrRobotAppFile You will find the following files in this folder DrRobotServiceContig xml It contains the IP and port information about the service programs RobotConfig xml It contains the robot information such as WiFi modules IP Cameras IP robot ID camera user ID and password gatewayConftig xml Control Center program will save communication settings in this file Gateway program will use it to setup communication with the robot WiRobotGateway exe This communication program will setup communication with robot DrRobotPortContig xml RobotHardWareConftig xml Following sub directories could be found under C DrRobotAppFile PathFile contains path script files SensorConfig contains the IR Range sensor location information file IrSensorConfig xml and the ultrasonic sensor location information file UsSensorConfig xml Record contains all camera video recording files PDA Color Touch Screen on the Robot Programs have been pre installed on the PDA color touch screen on Sputnik DrRobotPDASensorClient This program displays Sputnik sensor information Remote Client Program on Client PC On the client computer you should install the Sput
9. a Left Motor 0 o 0 004 False False ve ais Right Motor 0 0 0 004 False False Joystick iss MaxPower Joystick Sent Power 0 00 0 00 0 00 GPS o Enable GPS Sensor X 4960 Left Right v 5000 0 0 Enable Joystick 75 extend your imagination Joystick Collision Avoidance Drive Copyright 2009 Dr Robot Inc All right reserved Copyright 2001 2013 Dr Robot Inc All Rights Reserved www DrRobot com See Showing status of all power sources Battery I Il and external DC input We Dr Robot Sputnik II Motion amp Power Service Main Sensor Info amp Control Path Control Left Camera Right Camera IP 192 168 0 199 Port 8084 IP 192 168 0 198 Port 8082 Mis Weiss e Battery E 13 44 END m Battery I 13 33 Using uio m ID root oo wer Path Contro 2009 01 22 11 43 13 mF I Ir PowerByBattery I PowerByBattery II PowerByDCIN F Charge Battery I Charge Battery Il l I Charge Timer stop CwgeTmer as Sop Charge Curent Ceti ESS Channel Channel Channel ON OFF ON OFF ON Ol Motion Alarm Set Drive Power set Drive Speer Chassis Contro Left 1989 2003 1 1 44m 2 1 49m 3 2 55m Board Power 4 814 l CN Left 26354 4 255m 5 Left 200 1 l Right 200 l Q l l l 2 55m 6 255m Motor Power 12 76V Right 1993 2010
10. I I I I Right 6384 IR Sensor Extended 10 0 32787 I 1 0 81m 081m 3 08 m 4 053m 5 081m Input 255 18284 Stop GON 6 0 81m osim 8 010m 9 081m 10 081m Output 0 SetDriue Distance Seita gt a8 Distance 0 5 Unit m j Turn 45 Unit degree Motor Sensor l Enable Motor Protection Encoder Position Encoder Speed Current Feedback HeatProtect stuckState i l Time 2000 I l Time 2000 i Unit ms Unit ms Left Motor 0 o 0 004 False False Right Motor 0 0 0 004 False False Position Information docs MaxPo wer Dead Reckoning 0 00 0 00 0 00 GPs 0 Enable GPS Sensor Ip TN teet TOMUS ugue poncrnemqemeum t uec mermenemeri TIMERE meme Ultrasonic Sensor Power Human Sensor potion Conteol Q22 X 4980 Left Right Y 5000 0 Dr Robot PN oe T Ortend your imagination Joygtick Collision Avoidance Drive Copyright 2008 Dr Robot Inc All right reserved www DrRobot com When checked autonomous collision avoidance Max power output when feature will be activated during the joystick control joystick is fully pushed From where the system will take power from Battery Il or external DC input To control which battery or both to be charged and the max charging time Charging speed mode control Power on off the sub systems detail in Appendix Motor PWM control Motor speed control Simple mot
11. OR Dr Robot Wireless Networked Autonomous Mobile Robot with Dual High Resolution Pan Tilt Zoom Camera Sputnik Quick Start Guide Copyright 2001 2013 Dr Robot Inc All Rights Reserved www DrRobot com WARNINGS Do NOT power on the robot before reading and fully understanding the operation procedures explained in this manual Neither the robot nor the program is bug free accidence could happen you have to make sure that the robot always maintains a safe distance from people during operation The robot should be turn off i e the power switch should be on OFF position when not in used Battery should be fully charged before storage Battery pack should be recharged every two weeks while in storage Failure to follow these warnings could cause serious injury or death and or damage to the robot Copyright 2001 2013 Dr Robot Inc All Rights Reserved www DrRobot com Copyright Statement This manual or any portion of it may not be copied or duplicated without the expressed written consent of Dr Robot All the software firmware hardware and product design accompanying with Dr Robot s product are solely owned and copyrighted by Dr Robot End users are authorized to use for personal research and educational use only Duplication distribution reverse engineering or commercial application of the Dr Robot or licensed software and hardware without the expressed written consent of Dr Robot is explicitly forbidden
12. Rights Reserved www DrRobot com 6 Copyright 2001 2013 Dr Robot Inc All Rights Reserved www DrRobot com PT Operation Scenario Diagram below shows the typical operation scenario The Sputnik is a wireless networked robot It connects to the wireless AP or router via IEEE 802 11b g network The host PC or called server PC running the Sputnik I Control program could connect to this network via either e Network cable Connect the host PC to one of the LAN ports on the back of the router DO NOT connect to the WAN port or e Wireless To connect the host PC to the wireless router configure the host PC s wireless settings using the default wireless configuration settings found in the Network Connection session of this manual Internet Intranet Monitoring PC Typical Operation Scenario Note The host PC or called server PC could also be mounted on the robot instead off the robot if your application requires so User could be able to control the robot see talk and listen through the robot via the Dr Robot Remote Control program from anywhere around the world with Internet connection User could also play video audio and displaying images on the Sputnik color display Copyright 2001 2013 Dr Robot Inc All Rights Reserved wwuw DrRobot com 8 Software Installation Server PC On the Server Computer you should install the Sputnik ll Control program from the installation
13. e when double clicking on the file the via points will be loaded onto the via point list for editing Se Path Editor You could create a new path file or save the edited path file from here Target Target TargetDir Stoplime ForwardSp Forgetable NonStop FinalPostur TargetTime TargetTole MaxTumS CAEnable ReverseDr TargetDirl SeqNo on 0 0 5 FE Al Fi 0 2 75 Fal FE ozs 017 03 mnl Fe L T 02 This path via point list allows you to modify the motion specification of each via point ra ra na Robot Position X 398 Robot Postion Y 393 Robot Orientation 06 Add Point Delete Point Map XO 471 Map YO 170 Zoom You could position the robot to the location you like the robot to go The robot location will be displayed here You could add this location into the path by using the Add Point This path via point display windows shows the via point location You could drag the point to the location you want the robot to go Copyright 2001 2013 Dr Robot Inc All Rights Reserved www DrRobot com s17 Reserved for Sputnik with indoor GPS sensor Upgrade option Range sonar and IR sensor object distance measurement c Dr Robot Sputnik Il Motion amp Power Service asessnsmunuusssenumensusasssunnuusussusesuumeuuessrssuumensseuseenssunassusesuumeuusesuseuuneuusseussensmenssee
14. he network ports used by the wireless devices e g the 8081 8082 for cameras 7030 and 70UO on the server and remote client sides are not blocked for the Internet remote monitoring control tasks to operate properly Step 2 Installing the Sputnik Ill Remote Control program from the installation CD DrRobotSputnik IIRemoteControl program allows you to remotely control the robot obtain main robot sensor information view listen and talk through robot Step 3 Run the DrRobotSputnik IIRemoteControl program Step U Enter or confirm the remote server and other devices IP When you are connecting from public network your server IP must be a public IP and with the pre configured router settings all the devices on the robot will share the same public IP with the server IP Then click the Connect fe DrRobot Sputnik II Server Connection OS Dr Robot Service Settings Server PC IP Server IP 192 168 0 104 Lett Camera Camera IP 192 1858 0 188 Left Camera Login User Name Password Right Camera Camera IP 182 188 0 198 Right Camera Login UserName root Password Copyright 2009 Dr Robot Inc All right reserved Copyright 2001 2013 Dr Robot Inc All Rights Reserved www DrRobot com 210 Step 5 After login the DrRobotSputnik IIRemoteControl program will look as below 3 Dr Robot Sputn eS Power amp Motion Service a v z M hais 192 168 0 104 Disconnect
15. ion control drive forward backward left right and stop To turn within set time Drive forward set distance within set time Copyright 2001 2013 Dr Robot Inc All Rights Reserved www DrRobot com 4 Motion Alarm 1969 2005 it 1993 2010 ided IO able Motor Protection StuckState False False nable GPS Sensor www DrRobot com To Enable Joystick Control set Drive Power cet Drive Speed Left 25304 Left 200 Right 6304 Right 200 10284 Stop Set Drive Distance Set Rotation Distance 0 5 Turn 45 Unit m Unit degree Time 2000 Time 2000 Unit ms Unit ms MaxPower Enable Joystick 75 E Joystick Collision Avoidance Drive Chassis Control 80 Joystick Sent Power Lett 0 Right 0 2 on the joystick handle as shown above Go Forward More you push faster the robot goes Driving with Joystick More you push faster the robot goes Side Button 2 Suspend CA Robot base collision avoidance feature is enabled by default During joystick operation you could temporally disable this feature by holding the side button Copyright 2001 2013 Dr Robot Inc All Rights Reserved www DrRobot com 15 Via points displayed here Via points can be manually modified here Manual path test tool 1 Open the path file via points on the path will be displayed on the display above via points can be manually modified e Select the t
16. lly take about 2 hours if the battery power is totally exhausted The charging process will automatically stop when completed Further Development amp Programming The Sputnik Control program is written with C program with Visual Studio 2008 express under Net 3 5 framework You could download the development tools Visual Studio 2008 express under Net 3 5 framework free from Microsoft Please refer to the Dr Robot Application Development Notes on C Programming for Robot Control for further information The control program uses the supporting components and libraries that should have been installed when you install the control program from the installation CD 1 DRROBOTSentinelCONTROL OCX Please refer to WiRobot SDK API Reference Manual pdf for detail 2 WiRobotGateway exe 3 DrRobotSensorMapBuilder dll This dll file provides functions to build the environmental map for collision avoidance feature 4 DrRobotP2PSpeedDrive dll This dll file provides functions to drive a robot form one specific point to another 5 DrRobotConstellation dll Sputnik robot uses the sonar based Constellation indoor GPS localization system option This dll file provides the functions to locate the robot position with the Constellation system 6 DrRobotGPS dll Sputnik use the vision landmark based indoor GPS localization system option This dll file provides the functions to locate the robot position with vision based GPS system
17. nik I Remote Control program from the installation CD After program installation you will find the following programs under the Start gt All Programs list and they are installed under the Program Files folder Dr Robot Inc Sputnik ll Remote Client Control Copyright 2001 2013 Dr Robot Inc All Rights Reserved www DrRobot com 9 Application data folder is set to C DrRobotAppFile Following sub directories could be found under C DrRobotAppFile DrRobotPortContig xml DrRobotServiceConfig xml It contains the IP and port information about the service programs gatewayConfig xml Control Center program will save communication settings in this file Gateway program will use it to setup communication with the robot RobotConfig xml It contains the robot information such as WiFi modules IP Cameras IP robot ID camera user ID and password RobotHardWareConftig xml WiRobotGateway exe This communication program will setup communication with robot Following sub directory could be found under C DrRobotAppFile Record contains all camera video recording files Server PC Gateway Motion and Power Power Service Remote Client PC Gateway Motion Default port Copyright 2001 2013 Dr Robot Inc All Rights Reserved wwuw DrRobot com 10 Robot Operations Step l If you have not installed the programs insert the installation CD to CDROM and run the Setup exe pr
18. ogram which under Sputnik Il Control Installation folder to a PC called server PC set your PC IP to 192 168 0 104 Gateway 192 168 0 200 and Subnet Mask 255 255 255 0 Step 2 Connect the server PC to the wireless router one of the LAN ports the router has IP 192 168 0 200 included in the package Step 3 Turn on the robot main power switch on the back NOTE Always keep a safe distance from the robot Step 4 Run the DrRobotSputnik IIMotionPouerControl from Start gt All Programs gt Dr Robot Inc gt Dr Robot Sputnik Ill Control The DrRobotSputnik IIMotionPowerControl connect to robot via the DrRobotMotion gateway amp DrRobotPower gateway programs It requires robot information which can be found in Networking Connection and Login Information section After entering or confirming the information then click Connect Robot Two gateway programs will be called up to establish communication connections with the electronic system on the robot Left Camera Login Right Camera Login Robot ID Connection Setting C Serial Port Port 100 Connection Status Network Status i WiFi Connection Connected IP Port 10002 SinalRobut MEN 11 1 Robot Login OS Dr Robot Robot Settings IP of the Robot WiFi module 1 ap WiFi Module I IP Left Camera Camera IP User Name Password Right Camera
19. uomenmuun uusssumuuuuE Rug sRuHERRRRRRRRR RRRRSEERRRRRRRSEEEERRRSSEEEEREREETERERESEEERERRERERREEERERRESERHERREESSSRHERESEERSSHREERSRSSRE iRemote lient ontri I MLscalzatoniGbs i I l I I I stop Server IP Address I i I I I l I I Port Number WiFi Connection 9 I i l Server Log A client connected with serwer I I i Remote Client IP 192 168 0 108 55045 Position Data Position X m I I I I I EX c icf ce Received Command I I hin Position Dir degree i Received Command MONITOR I I I GPS Sensor Info I Joystick Y l I RE te tt tt D HO D NO IN er ee ee NN rt ers im mm arr meme moe ar ete ere Information about the tele operation and remote monitoring client o You could disable the remote client PDA Server starts listening at port 7060 Copyright 2001 2013 Dr Robot Inc All Rights Reserved www DrRobot com 18 Remote Monitoring and Tele operation Step 1 If Internet remote monitoring control is required you need to connect the wireless router WAN port to your broadband Internet modem You need to find out the public IP assigned by your ISP You should be able to find this information from the router status page This IP will be used by the remote client to connect to the host PC and the devices on the robot If firewall is in place in your network you also need to make sure all t
20. ype of task that robot to accomplish with the selected path a P2P task robot will run from the first via point on the path to the last one and stop b Wander task robot actually don t use the path and runs on its own Map displaying robot location and via points Reserved for Sputnik with indoor GPS sensor upgrade option e Dr Robot Sputnik II Motion amp Power Service Reserved for Sputnik with automatic charger upgrade option P2P PointNum P2P Status P2POwer PZP Control Left Wheel Cmd 0 Target Target Targetbir FinalPostu TargetTime TargetTole dnd Y This ou bring up a Tog F m m m d called Path Editor allowing you to edit a path 282 0 08 3 51 2 0 1 utaRun C DrRobotAppFile PathFile patrolxml Open PathFile Go i sinn ENIM GM mV N AutoPatral I P2P Task Type Wandering Speed I Detectvor 12 5 Once checked a via point will be generated and shown in the via point display above uhen the mouse clicks on the map below Robot will drive to this point uhen the GO button is clicked Zoom GoCharge Map X0 Map O Zooming in out of the map Copyright 2001 2013 Dr Robot Inc All Rights Reserved www DrRobot com JB The Path Editor opened from the Path Control allows you to edit a path file such as the charging and patrol path All path files are listed her
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