WiFi Mobile Robot Development Platform with Video/Audio Capability and Animated Head System X80-H Quick Start Guide Copyright © 2001 - 2009, Dr Robot Inc. All Rights Reserved. www.DrRobot.
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.
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.
Table of Contents Introduction 5 Key Features 5 Sensors and External Components 6 Operation Scenario 8 Software Installation 9 Robot Operations 10 Recharging 13 Open the Sample Source Code 13 Further Development & Programming 13 Network Connection and Login Information 14 Network Settings 14 Advanced Network Settings 14 Copyright © 2001-2009 Dr Robot Inc. All Rights Reserved. www.DrRobot.
Introduction The X80-H integrates Dr Robot’s animated head system with an X80 base. It provides broader versatility for researchers and developers who like the features of the DRK-8080, but would prefer a platform whose size and power are closer to that of the X80. Key Features 5 DOF animated head with integrated camera Two 12V motors with over 300oz.-inch(22kg.cm) torque each 7 inch driving wheel Max speed of 1 m/sec Weight: 3.
Sensors and External Components The figure below illustrates the key functional components you will identify on the outside of X80-H robot. Camera IR Range Animated Head Graphic LCD Robot WiFi Module Antenna Human Sensor 7.2V Battery Pack IR Range Ultrasonic Sensor Main Power Switch IR Range X80-H Overview The robot comes with 3 ultrasonic range sensors and 8 IR range sensors. These range sensors are for environment detection and collision avoidance.
Sensor Module Location Ultrasonic #1 I – Left front Ultrasonic #2 J – Middle front Ultrasonic #3 K – Right front Human Sensor #1 L – Left front Human Sensor #2 M – Right front Infrared Range Sensor #1 A – Front left Infrared Range Sensor #2 B – Front middle Infrared Range Sensor #3 C – Front middle Infrared Range Sensor #4 D – Front right Infrared Range Sensor #5 E – Right Infrared Range Sensor #6 F – Rear Infrared Range Sensor #7 G – Left Infrared Range Sensor #8 H – on Animated
Operation Scenario Diagram below shows the typical operation scenario. The X80-H is a wireless networked robot. It connects to the wireless AP or router via IEEE 802.11b/g network.
Software Installation You should install the “X80HControl” program from the installation 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 – X80H Control Dr Robot Inc – WiRobotGateway.exe “SourceCode” folder contains a copy of X80-H sample code for Visual Studio 2008. It is locate under default installation folder (such as “C:\Program Files\Dr Robot Inc\Dr Robot X80H\”) Robot
Robot Operations Step 1: If you have not installed the demo and support programs, insert the installation CD to CDROM and run the “Setup.exe” program that is under “X80H Control Installation” folder. Step 2: Connect the PC to the wireless router (one of the LAN ports) (the router has IP 192.168.0.200) included in the package. Step 3: Push red power switch on the front to turn on the robot. Step 4: Run the “WiRobotGatewayforWiFi.exe” from Start -> All Programs -> Dr Robot Inc -> WiRobotGateway.
Motion control * Joystick Control (Optional) * Click “Turn 90” to command robot to turn 90º * Click “Forward 1M” to command robot to go forward by 1 meter * Click “Patrol 1M x 1M” to command robot to patrol on 1 meter by 1 meter square Camera display and multimedia control Head motion control IR, Ultrasonic, Human sensors reading Voltage reading Tilting, Temperature sensor reading and Infrared Controller reading (Optional) Encoder reading * Select 128x64 monochrome Bitmap file to display on LCD * Cli
Joystick Control (Optional) Joystick reading To Enable / Disable Joystick Control Driving with Joystick Controlling Head with Joystick Go Forward More you push, faster the robot goes Up Turn Left Turn Left Turn Right Turn Right Down Go Backward More you push, faster the robot goes Copyright © 2001-2009 Dr Robot Inc. All Rights Reserved. www.DrRobot.
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). Open the Sample Source Code Open “C:\Program Files\Dr Robot Inc\Dr Robot X80H\SourceCode” folder, run “X80H.csproj” to open project in Microsoft® Visual Studio 2008. Further Development & Programming The X80-H Control program is written with C# program with Visual Studio 2008 express under .Net 3.5 framework.
Network Connection and Login Information Network Settings The included pre-configured wireless 802.11 b/g router has the following pre-set settings: SSID WEP KEY Key Type dri 128bits 112233445566778899AABBCCDD Open Key Router LAN Login ID Password 192.168.0.200 admin drrobot WiFi module connects to two serial devices through channel I and II (TCP/IP port 10001 and 10002 respectively). They are pre-configured as below: Name Robot WiFi Module IP 192.168.0.
