Table of Contents. Introduction 1. Software installation 2. Remote control and video transmission 3. Navigation 4. FAQ 5.

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2 Table of Contents Introduction 1. Software installation 2. Remote control and video transmission 3. Navigation 4. FAQ 5. Maintenance

3 Introduction Introduction Introduction The Galileo visual navigation system is a robot positioning and motion control system which integrates multiple sensors and is led by visual navigation. It is suitable for indoor and open outdoor environments. Galileo system has different methods of use according to different application scenarios. This manual describes how to use the Galileo navigation system in the delivery robot. 3

4 1. Software installation Chapter 1, Control Software Installation and Trolley Assembly 1.1 Software installation steps 1.2 Trolley assembly steps Chapter 1, Control Software Installation and Trolley Assembly 1.1 Software installation steps a. Dwonload client from here,and install. b. After installation, the control software shortcuts will be created on the desktop which is shown in the figure below. Double-click the icon to open the control software. c. The control software is developed based on.net technology, so it requires NET Framework 4.5. Please install the NET Framework 4.5 except The WIN10 operating system. 1.2 Trolley assembly steps The main part of Xiaoqiang is shown in the figure below 4

5 1. Software installation Place the battery flat on the empty area in front of the host (the battery is blocked by two small black blocks), connect the chassis power wire according to the prompt of line mark, install the wifi antenna of host computer, connect the camera and the underlying USB connection module to the host's USB interface. 5

6 2. Remote control and video transmission Chapter 2, Remote Control Image Transmission 2.1 Configuration of robotic vehicle computer network 2.2 Control terminal PC accesses the working network 2.3 Operation of control terminal software 2.3.a The opening of remote control image transmission 2.2.b The closing of remote control video transmission Chapter 2, Remote Control Image Transmission 2.1 Configuration of robotic vehicle computer network Place the battery flat on the empty area in front of the host (the battery is blocked by the camera bracket), connect the chassis power wire according to the prompt of line mark, install the wifi antenna of host computer, insert the u turn string module into the computer usb port, and plug in the camera and kinect. Press the chassis red switch and the host computer switch simultaneously, use the hdmi we give to vga plug, connect the monitor, keyboard and mouse to the robot host and then boot, enter the user password and access to the host ubuntu system. System password is xiaoqiang. Click on the location shown below to select the wireless network which you want to access to. 6

7 2. Remote control and video transmission When there are many wifi hotspots around the use environment, 5G networks is recommended. This is because 5G network has less electromagnetic interference, more stable transmission and more effective coverage. If the network coverage of a route is too small, multiple 5G routing wireless bridges can be connected into the same wireless network. The robot access to the large-scale network can expand the ranger of remote control image transmission. 2.2 Control terminal PC accesses the working network The control terminal PC needs to be on the same wireless network as the trolley host. Please refer to Chapter 1 for the installation of control software. 7

8 2. Remote control and video transmission 2.3 Operation of control terminal software After opening control software, the initial interface is shown in the figure below. Put mouse pointer in any area, the corresponding function prompt will appear. Please try to understand the entire interface as you want. 8

9 2. Remote control and video transmission 2.3.a The opening of remote control image transmission First of all, make sure that the onboard computer and the chassis are powered on. The power button is on the left side of the host. Led lights in the front of the kinect will blink after the host computer is turned on. The chassis switch is next to the digital tube. The digital tube will display the battery voltage after the chassis is powered on. Please charge the battery When its voltage is lower than 9.8V. Click the button "Not Connected" on the main interface to establish the communication link between the remote control and the chassis. It will pop up the following warning on the firewall when in the first operation. Please select "Allow access". 9

10 2. Remote control and video transmission After the connection is successful, the main interface becomes as shown in the figure below. Now you can start the remote control chassis movement. 10

11 2. Remote control and video transmission Chassis motion control supports keyboard manipulation. The operation style is similar to the game Need for Speed. Right-click in the picture transferring area to open the menu, as is shown in the figure below. Select "Original Image", now you can see the first view of the robot and picture transferring has already been opened. 11

12 2. Remote control and video transmission Select "Close" in the right-click menu to end the picture transferring. 2.2.b The closing of remote control video transmission Close the software directly. If you need to turn off the power of the device, please click the button Shutdown on the main interface to turn off the vehicle host firstly, then turn off the switch next to the digital tube of trolley chassis. Ensure that the host computer is turned off (kienct stops blinking), unplug the wire between battery and trolley chassis. Demonstration video of this chapter: Operation of Remote control video transmission Please manually press the red switch on the trolley plate to stop the car in case of emergency. 12

13 3. Navigation Chapter 3, Navigation 3.1 System introduction 3.2 The creation of map 3.3 The drawing of inspection trajectory and site 3.3.a Drawing the inspection trajectory 3.3.b Set target point 3.3.c Save the trajectory and upload 3.4 Openning and closing of autonomous inspection 3.5 Map Management and Updates Update map Delete map Chapter 3, Navigation 3.1 System introduction The vehicle host computer is equipped with a visual navigation system. The robot trolley can move and inspect autonomously with the system, When encountering obstacles, the trolley will also autonomously dodges and bypass. Navigation system workflow:: (1) In the mode of remote control image transmission, the operator controls the device remotely to surround the motion area for twice to establish a visual map that the robot can understand. (2) Draw the inspection trajectory of robot and set the target point manually on the visual navigation map created in step 1 using the control software. (3)Start the inspection after the path and target point are set. Selecting the target point, then the robot will move utonomously to the target point along the trajectory planned in step The creation of map Opening the remote control image transmission according to the operation in Chapter 2, set the speed of chassis movement as about 20%. Click the button Start Drawing on the main interface and wait 10 seconds. 13

14 3. Navigation Open the visual system output image. Telerobot moves straight forward until the vision system initializes successfully. 14

15 3. Navigation Now starting of the vision system has been finished, the telerobot begins to moving in the movement area. Try to avoid pure rotation in the process of remote control (just pressing the key turn left or right wil cause the lost of vision system for targets easily). Please press the key forward and turn left or right simultaneously so as to turn the robot along the large radius trajectory. During remote control, please make sure that the visual indication status in the main interface is "Tracking". Once it becomes red "lost", please retreat the telerobot to the normal state of previous period. You must use the back button to finish the retreating process, at the same time, keep the orientation and perspective of the robot unchanged. Please do not operate the robot temporarily if "Closed loop optimization" appears in the Visual indication status during remote control. When the path that the robot walks forms a circle, the robot will automatically optimize the map established previously, which will greatly improve the quality of the map. Therefore, in order to establish a more accurate map, you can remotely control the robot to walk multiplely along closed paths in the process of establishing a map. Importantly, the quality of the map will greatly influence the effect of navigation later. When the robot has browsed the entire motion area, stop moving, click the button "Save Map" on the main interface, and wait for the save dialog to pop up. Enter the name of map in the dialog and click "OK ". Wait for the map to finish loading. 15

16 3. Navigation After the map is loaded, you can see the approximate effect of the map which you just established. If you feel more satisfied, you can click the button " Finish Map ". Then the section about establishment of map is finished. The demo video of this section: The process of Visual map creation. In case of emergency, please press the red switch manually on the trolley to stop it. 3.3 The drawing of inspection trajectory and site Warning: Because planning trajectory need to download and render the visual map, the client exchange large amounts of data with the trolley host, the whole process takes a long time. So for the execution of the following steps, please waiting for the update of the client software interface patiently. Open the control software, click the button "Unconnected" to connect with the chassis, click on the button" draw navigation map" to open the editing interface of inspection path on the main interface. After loading, the software interface is similar to the figure below. 16

17 3. Navigation 3.3.a Drawing the inspection trajectory The inspection trajectory is the path you want the robot to walk on. After clicking the button "Start Navigation" on the main interface, the robot will move according to the path you have drawn. Here, we will introduce how to use the path drawing tool. 1. Basic operation Basic operations contain pan and zoom. Panning of the map is achieved by draging the map with the left mouse button. Zoom of the map is achieved by scrolling he mouse forward and backward. This is very useful for drawing paths. For more detailed requirements about movement, you can enlarge it before drawing. 2. Pencil tool Click the pencil icon in the left toolbar. This is a straight line tool. Click on any point with left mouse botton on the graph, then move the mouse, there will appear a red straight line. Move the mouse to the end position you want and click the left mouse button, a straight line is drawn. If you click the left button once again, then click right mouse button to cancel this drawing. 3. Eraser tool Click the Eraser tool on the left toolbar, then click the left mouse button and drag to erase the points drawn previously. 4. Curve tool 17

18 3. Navigation Click the curve tool on the left toolbar, click the left mouse button at the beginning of the curve, and then click it in the middle of the curvea and the endpoint of the curve respectively. Such a curve is drawn. 5. Remove tool If you want to delete the points you drawn previously in a wide range, you can use this removal tool. Click on the delete tool on the left toolbar, and then put left mouse click on the starting point of the deletion, at this moment, you can see a rectangle always moves with the mouse. Click the left mouse button again to delete the area selected by rectangle. Right click to cancel the selection. You can draw the inspection trajectory of the robot with those tools. It should be noted that you draw the line (blue dot) along the original trajectory as much as possible to ensure that the path is smooth during the movement. You can see the terrain roughly from the green point on the map, and then draw the points allowed by the range of motion based on this information. For service robot, mode trajectory is connected. 3.3.b Set target point With respect to the application scenarios of service robot, the robot needs to move back and forth between several fixed positions. For example, from the kitchen to the first table, then back to the kitchen to the second table and so on. The following work is to mark the location of each target point on the route map drawn above. We can send the corresponding target point to the robot, and then let the robot go to the target point automatically. 18

19 3. Navigation Click on to activate the inspection site insertion tool, and click on the inspection trajectory in order to insert inspection sites. Inspection sites can be deleted by erasing and deleting tools. Enter the corresponding target point number in the currently selected navigation point below, and the corresponding target point will be displayed in green in the figure. We can know the serial number of each target point in this way. 19

20 3. Navigation 3.3.c Save the trajectory and upload 20

21 3. Navigation Click the button "Save Path" on the interface, enter the file name, and click "Save". The full demo video about this sector: Draw the planning path and target point 3.4 Openning and closing of autonomous inspection Open the control terminal software and click the button "Not Connected" to connect with the chassis. Waiting for the map download to complete, the client loads a few sections drawn navigation map and path site automatically. 21

22 3. Navigation 22

23 3. Navigation Control the robot remotelyled to the position where it can be tracked. Of course, the robot must be in the inspection path and its facing orientation should be the same as the map you have created. Click the button "Start navigation" to start the automatic inspection, wait 30 seconds or so for the robot to start to move autonomously, and the blue blocks that indicate the location of the robot in the interface begin to be updated synchronously. 23

24 3. Navigation 24

25 3. Navigation If you want to stop the inspection, click on the button "Stop Service". If the robot suddenly stops moving during the autonomous inspection process, and the visual status becomes lost, which means that the vision system loses the targets. The reasons for that may be the following: (1) The initial movement direction of the robot is opposite to the movement direction when the map is established; (2) the light intensity or the environment has changed tremendously. For reason (1), please restart the robot after turn it around. For reason (2), you need to re-esablish the map and planning path. The full demo video of this section: Openning and closing of autonomous inspection In case of emergency, please press the red switch manually on the trolley to stop it. 3.5 Map Management and Updates In the map management control panel,we provide map management functions which include map deletion, update and save as. 25

26 3. Navigation Update map In actual use, the environment may change a lot, which results in the map established previously can no longer be tracked. In this moment, you can use the function of updating map. First select the map to be updated in the left menu, then click the button Update Map. 26

27 3. Navigation 27

28 3. Navigation The robot may not be able to trace after turning on the updating function. At this time, you can remotely control the robot to a place where environment changes a little, then the robot can track the environment. The subsequent operation is the same as the process of establishing a map. When the map updating is completed, please click the button Save As firstly. Then you need to enter the name of the new map and wait for the save to complete. If you feel that the new map is of good quality, you can click the button End Update to end the map update process. The newly updated map can be seen in the map drop-down menu. After that, you can use the new map to navigate Delete map Select the name of map in the first drop-down menu. Click the button delete on the right to delete the map. Robot map management 28

29 4. FAQ Common Problems and Solutions 4.1 do not work suddenly during remote controlling 4.2 Video transferring in a slow speed or delay 4.3 Visual status display "lost" in the picture establishing process, and there are no emerald green points appearing in the black and white screen of picture transferring 4.4 The connection has established and the remote control image transmission is normal, but the client does not display the map and inspection path. 4.5 The autonomous inspection has been started, the visual status always shows "Lost" and the robot swings in place 4.6 Cannot close the navigation service 4.7 When planning paths and trajectories, the loaded map shows a lot of messy and blue-colored points or the blue trajectory points of robot are obviously different from the path of remote control when the map is been created 4.8 The robot cannot avoid obstacles autonomously 4.9 Client cannot connect to robot Common Problems and Solutions 4.1 do not work suddenly during remote controlling It may be that the infrared obstacle avoidance module of chassis is activated. Please check whether there is an obstacle around the robot, if so, removing the obstacle, and then wait 5 seconds before try to control remotely again. 4.2 Video transferring in a slow speed or delay Please right-click to close the picture transferring then reopen it. If it does not work, you should not try again until the robot leaves the signal blocked area. 4.3 Visual status display "lost" in the picture establishing process, and there are no emerald green points appearing in the black and white screen of picture transferring There are two situations: a. There is no tracking in the visual state after the vision is opened. b. There is a tracking in the visual state after it is opened, but It suddenly becomes lost in the picture establishing process. 29

30 4. FAQ Solutions: a. Try to ensure that the robot moves in a straight line, and moving forward for a while then back for a while, repeating it until the visual status becomes tracking. b. Retreat the tolley to nearest position where the visual status appears "tracking" to make the robot vision system relock, in this process, you must keeping the orientation and perspective of the robot unchanged. c. If both of the two methods are tried several times, it still shows "lost". Please close the vision system and re-open it to start to scan and establish picture from the beginning. 4.4 The connection has established and the remote control image transmission is normal, but the client does not display the map and inspection path. The loading time of the map and inspection path is very long. Please wait for 5 minutes or so. If it still does not appear, please close the client software and reopen it to try again. 4.5 The autonomous inspection has been started, the visual status always shows "Lost" and the robot swings in place It shows that the robot can not identify the current position. There are two possibilities: a. The current position has not been recorded in the process of scanning and picture establishing. b. The light intensity of current position or distribution of the things has changed a lot. For the first case, please control the robot remotely to the location where the picture establishing has scanned, be sure that the orientation of the robot is the same as picture establishing, and reopen the autonomous inspection again. For the second case, there is a need to rescan the environment and reestablish the picture, and the inspection path and site are also need to be redrawn. 4.6 Cannot close the navigation service Try to click several times, if it still can not be closed, please close the power switch on the robot chassis manually, and then shut down the trolley host through the client software. 4.7 When planning paths and trajectories, the loaded map shows a lot of messy and blue-colored points or the blue trajectory points of robot are obviously different from the path of remote control when the map is been created 30

31 4. FAQ This showed that the establishment of visual map failed. Please rescan and reestablish the map and try again. 4.8 The robot cannot avoid obstacles autonomously Check the kienct indicator light is normal or not, whether the power cable providing of kienct is connected properly. Turned off the vehicle host, then restart to test after reopen it again. 4.9 Client cannot connect to robot Please log in to the management interface of LAN routing, then check that if both the client PC and the robot host are connected to the network. Refer to Chapter 2 Networking Operations to reset the two networks. 31

32 5. Maintenance Chapter 5 Maintenance 5.1 Hardware system overview 5.2 Charging 5.3 Wheel loosening or skidding Chapter 5 Maintenance 5.1 Hardware system overview 32

33 5. Maintenance 5.2 Charging After disconnecting the battery from the trolley chassis, charge it with the dedicated battery charger delivered by our company. It takes about 5 hours to fully charge the battery. 33

34 5. Maintenance The two output wires of the battery are connected in parallel, so both heads of it can be used for charging and discharging. The battery supports simultaneous charge and discharge. 5.3 Wheel loosening or skidding Solution :Re-tighten the screws in the figure above 34