The Robot-waiter platform is designed to deliver small objects weighing up to 8 kg using the remote control via the Internet, by means of receiving and processing data from multiple sensors, Lidar and video signals from the camera for decision making on further action. The robotic platform works in conjunction with the operator.
The robot is a combination of a mobile platform with a table and a remote presence software.
A Windows OS interface is designed. It provides displaying of the video signal from the platform on the electronic device (computer) of the user/operator.
The robot software runs on a tablet computer with a full Windows 8 operating system and controls the mobile platform. The operator software allows the operator to connect to the robot software via the Internet or a local wireless network. It implements the remote robot control by sending commands to the microcontroller through a tablet computer via a wireless Internet connection or Bluetooth (RS232 in case of the stationary connection).
In the autonomous mode the robot can generate a map of the premises and move to a predetermined point on the premises map.
This platform is an ideal solution for eating places, such as: restaurants, cafes, time-cafes.
It will be a great help at various corporate events, exhibitions, seminars, where the operator when interaction with the robotic platform will be able to deliver snacks, magazines, booklets, as well as to collect used dishes, thus serving as an assistant waiter. The device will find application in hotels and shopping centers for delivery of correspondence, documents and medical supplies to those in need, such as inhalers, medicaments for emergent cardiac and diabetic care, etc.
The platform size is 700х500х800 mm (LхWхH). The axle spacing of the wheel base is 380-440mm, taking into account shifting of the rear castor wheels center. The width of the wheel base is 400 mm between the front wheels centers.
The platform is powered by a 12V lead-acid battery of 7Ah capacity or higher.
12V voltage is supplied directly to both microcontrollers, to 2 controllers of the stepper motors, and to all 3 stepper motors. One controller of the stepper motor Lidar, a Hall sensor, and infrared distance sensors are powered by internal microcontroller sources (5 volts).
A special charger (DC 13.8V and at least 1A) is recommended to charge a lead-acid battery.
A Recommended Power Supply Kit
To replace the power supply elements/batteries remove the robot platform body from its base. To do this, raise the robot platform body, loosen the clamps on the table racks, remove the legs of the table from the racks and remove the body.
The robot assembly after the power supply elements replacement requires the reverse order of action described in the previous paragraph: install the platform body to the base, insert the table legs in the racks, lift the platform body, and tighten the clamps on the racks.
Charge the robot battery before usage. It will no work if the battery is discharged.
The robot has a few connected program modules on various computing boards.
We use C on IAR ARM to program an STM32 microcontroller (control of engines and distance sensors.
C on Arduino IDE is used to program (Lidar management and measuring preparation).
C++ on MSVC is used for Windows OS (of the robot tablet computer and the operator’s work tool) programing.
2 microcontrollers are used: one – for STM32 engines management and the other – for the Arduino Mega Lidar control.
Utilized Controlling Contacts on STM32
Utilized Controlling Contacts on Arduino Mega
In addition to the available online ComConsole app, customer applications are created to control the robot via Bluetooth in the line of site, to adjust the speed and the acceleration speed parameters, to remotely control the platform by an operator via the Internet.
TPRobot is an application running on the OS Windows 8 Tablet, mounted on the robot platform for receiving the operator commands and their further transfer to the computing board of the robot platform and the subsequent transmission of the video and other data from the platform to the operator screen.
TPOperator is an application, used by the operator on his OS Windows 8 computer/laptop, to adjust the user settings of the connection to the TPRobot application, the robot platform data receipt, their display on the operator screen and the platform motion control.
A separate interface on the tablet designed for the autonomous operation – map building and a given route following in the autonomous mode.
This application allows the operator to connect any time and change the performance program or switch to the manual control. The map and navigation is based on the LIDAR data. A LIDAR in this design corresponds to a horizontal plane scanning action of a laser distance meter assisted by a step motor. After each measurement made by the distance meter, the controller instructs the stepper to turn by one step (200 steps per 360 degrees). A Hall sensor and a magnet mounted on the mirror are used to determine the zero point.
The robot assembly is done once when it is being prepared for use, with subsequent replacement of power supply components/batteries as they discharge.
To assemble the robot of its components it is necessary to have a complete set of the components listed above in the paragraph «The Robot Platform Construction.»
The platform base and the table are the first to be assembled according to the drawings by qualified personnel.
The next stage is connection of the battery to the contour chain of the robot and its performance testing.
If everything is in order, the platform body and the table are installed on the platform base according to the instruction of the robot assembly after the battery replacement, presented in the POWER Section.
In case of the robot malfunction contact the service personnel.
The wheel platform robot-waiter is a combination of radio and mechanical components that requires safe handling and a high qualification personnel to maintain the robot.
The following usage conditions must fully comply with the conditions of operation of the individual radio technic units, described on the websites of manufacturers of those units (batteries, tablets, Bluetooth modules, motors).
When manually giving the robot a command to move, the operator is strongly recommended taking due care to avoid encounter with people and other dynamic and static obstacles.
If you notice any signs of the product malfunction or failure, contact qualified personnel.
The warranty period for the product is 6 months, but not more than 24 months from the manufacture date*.
During this period you can exercise your right to free correction of the product defects and to satisfaction of other consumer requirements established by the legislation regarding the product quality in case of the proper product usage and compliance with the rules of its operation contained in this manual.
To avoid confusion, keep the product warranty card and payment conforming documents.
The warranty does not apply to the product in case of:
Product shipping to the service center is paid by the buyer.
Keep the warranty card and payment conforming documents for the life time of the product!
For all maintenance issues or acquisitions of accessories and consumables, please contact the retailer from whom you purchased the product.
*the battery guarantee is 6 months.