Lab view run time installation

Unzip

② Click next

③ Click next

④ Make an agreement with the license and then click next

⑤ Click next

⑥ Waiting

⑦ Click next

Unzip

② Click next

③ Click next

④ Click next

⑤ Uncheck the box and then click next

⑥ Completion

method

2.1. TCP connection method (1)

① Open the cover while power is off.

② Open USB cap, put wireless LAN card,
and then close the cover.
(Purchase and use the Unicorn MW-150U)

③ Turn the power on

④ Press ▼(Down) button for more than 3 seconds while pressing time setting button at the same
time by using a remote controller.
Confirm that the diagnosis program connection is ready by the sound of
“Ring ring~ ring ring ring ~ Starting inspection mode.”

“ STARTING INSPECTION MODE~ ”

method

2.1. TCP connection method (2)

⑧ Connect to RK_APMOD in a wireless network
connection status setting window

⑤ Set a wireless IP of the PC
that will be connected to a robot

⑥ Select internet protocol (TCP/IP)

⑦ IP address : 192.168.0.110
Serve net mask : 255.255.255.0

⑨ Automatically connect to the set when confirming
the program connection (TCP Connection) as a
figure below after implementing
R-Manager program. In case of no
connection after pressing
Reconnection button, re-implementing
from ④

method

2.1. R-manager program (Main screen)

R-Manager program information

Sensor
information

Communication connection method
& Communication port setting

Model name, vision information
IP information

Charge & discharge regarding battery

Control regarding motor

Upper part camera

RTC,
keyboard control

Main body button,
dust bin,
mop sense switch

Communication connection

method

2.1. R-manager program (Main screen)

2.1.1. Communication connection method & communication port setting

2.1.2. Model name, vision information, TCP information

Connection Type
- TCP connection : Wireless LAN card use.
- UART connection : Serial cable use.
VISA resource name
- Communication port setting button when UART connection is selected as a connection type
Communication connection
- Green light is on when connection is activated

Model ID
- B0 : VR627xLVM Ser., VR626xLVM Ser.
Vision Ver.
- Vision board (Upper part camera) program version
Main Ver.
- Main board program version (Note* : Should be the same number with vision ver.)
IAP Ver.
- Main board boot loader version
TCP Information
- IP information of robot

method

2.1. R-manager program (Main screen)

2.1.3. Sensor information

Left PSD

Right PSD

* Side PSD sensor [mm] – Side PSD sensor
Function : Wall drive / Map Building
Sense distance : 20~ 150 mm
In case where there is no barrier : 150 mm
Sensor characteristic
Advantage : Possible to calculate the straight distance to the barrier and position accurately
Disadvantage : Narrow sense range and greatly influenced by external light interference (외란광)

method

2.1. R-manager program (Main screen)

2.1.3. Sensor information

* Ultrasonic sensor [mm] – Ultrasonic sensor
Function: Barrier sense / Wall drive
Sense distance: 50 ~250 mm
In case where there is no barrier : 250 mm
Sensor characteristic
Advantage – Possible to sense a wide range with a small amount of sensors
Disadvantage –Difficult to sense thin and angulated barriers such as legs of a desk and a chair

Rx

Rx

Tx

Tx: Transmitter (Transmission part)
Rx: Receiver (Reception part)

method

2.1. R-manager program (Main screen)

2.1.3. Sensor information

* Gyro Sensor [mm] – Angle sensor
Function: Angle measurement
Operation range: -180.0 ~ 180.0 (Degree)
Initial value : 0 (CW: Clock wise - / CCW: Counter clock wise +)
Sensor characteristic
Advantage – Correct the straight drive by measuring relative angles
Disadvantage – Not resistant to temperature changes and external shock

method

2.1. R-manager program (Main screen)

2.1.3. Sensor information

* Accelerometer Sensor - Acceleration sensor
Function: Acceleration (Shock) measurement
Operation range: -2048~+2048(-2G ~+2G)
Sensor characteristic
Advantage – Sense collision by measuring the amount of speed change (Mechanic bumper replacement)
Disadvantage – Not resistant to temperature changes and external shock

+Y

-Y

-X

+X

+Z

X

-Z

method

2.1. R-manager program (Main screen)

2.1.3. Sensor information

* Cliff Sensor - Cliff/ doorsill sense sensor
Function: Cliff and doorsill sense
Sense distance: -18 ~ 150(mm)
In case where there is no barrier : 150(Doorsill: - / cliff: + floor : 35mm)
Sensor characteristic:
Advantage – Less influenced by colors of barriers
Disadvantage – Mis-operation if there are marble and clear color changes

Possible range of sensor correction [mm] : -30 ~ +40 / 35
Sensor sensitivity adjustment time: When cleaning starts (Should start on the flat floor)
Items to be confirmed : After rotating an agitator, left/ right sensor change should be confirmed by using graphs (-4 ~ +4)

method

2.1. R-manager program (Main screen)

2.1.3. Sensor information

* Cliff sensor - Doorsill/ cliff sensor
Function: Measure the relative migration distance of a main body
Principle of sensor: Measure the migration distance and direction by taking an image of the floor surface image (3x3mm) every once in a while
SQUAL: The number of characteristic dot of an floor image that can be used in calculation of the amount of migration
Sensor characteristic
Advantage – Possible to measure the actual migration distance of a main body /Correct errors caused by slipping
Disadvantage – Decline performance on a floor without patterns/ mis-operation caused by dust

SQUAL use range
In case of more than 40 ? Use a migration value to position correction
In case of more than 23 ? Use when judging a stuck sense of a main body
In case of less than 23 ? OFS sensor should not be used

method

2.1. R-manager program (Main screen)

2.1.3. Sensor information

LN (Left near)
Left near distance

LF (Left far)
Left far distance

RN (Right near)
Right near distance

RF (Right far)
Right far distance

CF (Center far)
Center far distance

CN (Center near)
Center near distance

Automatic charge induction signal/ Place sensors sense remote controller signal

Docking signal range

method

2.1. R-manager program (Main screen)

2.1.4. Charge & discharge regarding batteries

* Battery management system – Battery management
Voltage range: 12.7V ~16.8V
Residual quantity level of a battery
High : More than 70%
Middle: 40% ~ 70%
Low : 20% ~
Dock: 5% ~20%
LB (Low battery): Under 5%
Current range
When discharging: Average current 200~400mA
Motor derive 900 ~1100mA
When charging: 300 ~ 1100 mA
Charger terminal contact confirm (Contact)
When contacting a charger, docking signal
occurrence is blocked
Battery state confirm (Battery State)
CONSUMING: Waiting
CHARGER CONTACT: Charge terminal connection
CHARGING : Charging
CHARGING COMPLETE : Charge completion
SWITCH ERROR : Main power switch of a main body is off

RK diagnosis program use method

2.1. R-manager program (Main screen)

2.1.5. Control regarding motors

* Motor control – Motor control
Wheel motor (Left/ right wheel motor)
Straight drive speed / rotation speed: Straight drive/ rotation speed [mm/sec] of a main body by wheel rotation
Speed :The current wheel speed [mm/sec] measured by wheel motor encoder
Current (Current): Wheel motor use current [10mA]
Drop (Wheel drop sense): Whether or not a wheel drop sense switch is operated
Agitator motor (Agitator motor)
Agitator motor speed (RPM) – Error occurrence in case where less than 1000RPM
Suction motor (Suction motor)
Suction motor current (10mA) –When a motor is stuck, current is increased drastically
All run / All stop (Whole motor control)
Whole motor (Agitator, suction, wheel)
is on/off with a currently set speed
Turbo
Agitator RPM : 1000 ? 1200 RPM
Suction motor : 8500 ? 10000 RPM

Agitator motor

Right wheel

Left wheel

Suction motor

method

2.1. R-manager program (Main screen)

2.1.6. Upper part camera

* Ceiling vision sensor – Upper part camera
Camera image confirm
Get Robot Img : Image capture
Movie button : Take images periodically which is set
(Should be minimum 500ms)

CV-SLAM
Position detection and mapping A are performed at the same time from an image of ceiling

method

2.1. R-manager program (Main screen)

2.1.7. Infrared light reception & micro SW

* On / off switch check – Switch type inspection
Cover touch button (Upper part touch button)
Dust bin sense switch
Mop sense switch

Off

On

method

2.1. R-manager program (Main screen)

2.1.8. RTC, keyboard control

* PC keyboard control / RTC time –Computer keyboard control / main body set time
a : Agitator motor on / off
s : Suction motor on / off
t : Turbo mode on / off
↑, ↓ : Reverse speed control before setting
Set speed is accelerated/ decelerated by 10 cm/sec when clicking
←,→ : Set left and right rotation speed control
Set speed is accelerated/ decelerated by 10 deg/sec when clicking
Space bar : All motor off

method

2.1. R-manager program (Graph screen)

Multiple selection
is possible by
using a data list
Ctrl button

Plot list

Temporarily stop the real-time graph

Communication connection method
& Communication port setting

Model name, vision information
IP information

Communication connection

method

2.1. R-manager program (Log screen)

Save data initialization

Saved data count

Save period setting

Save start/ stop

Save path setting

Data list selected
from a graph screen

Model name, vision information
IP information

Communication connection

Saved data (*.xls)

Communication connection method
& Communication port setting

(http://smile.lge.com => SCS ) and then install as an order below

① Perform install program

② Click Next

③ Select the path which black box viewer
program is installed and then click Install
button

④ Install progress status

⑤ Click install end OK button

⑥ After completing the installation, confirm the
implemented file

1. Black box viewer installation method

loading
Roboking accumulated data loading

Mark barriers and cleaning areas

Time sequencing organization
of a list that is selected on
an event tag list

*B.B file (One unit per cleaning) list

Occurred event list
(Start, error, trajectory ,, etc)

Time slide bar, barrier color setting
event color setting section

Mark detail information of
selected event

* B.B : Black Box

multiple selection is possible

* Statistics (S) : Whole set accumulated file (*.stc) loading

* B.B : Black Box

Program end

2. Black box viewer explanation

2.1. Manu Bar

outgoing

2.1. Manu bar

Statistics (S) : Whole set accumulated file (*.stc) data list (1)

2. Black box viewer explanation

outgoing

2.1. Manu bar

Statistics (S) : Whole set accumulated file (*.stc) data list (2)

2. Black box viewer explanation

list saved in the Roboking
=> It is saved with a file of cleanlog year month date time minute second.bbl

- The event list will be organized in a time sequencing as checking of an event
that you want to look at by using an event tag list save in the black box

- Event list defined in the event tag of B.B file is organized in a time sequencing.
When double clicking while playing, directly move to the correspond position

2.2. B.B file lists

2. Black box viewer explanation

Time No. : The order of image capture to the upper camera while driving

Image capture time : Year month date time minute second

Event tag list classification

Event tag list classification

Image capture position : X coordinate, Y coordinate, angle

Information classification : Letter, position, bulk transmission,

Event tag list : Application, error (Bumping,),
MAP DATA, ,

Event tag list classification

* Coordinate starting point is (550.0, 50, 0°)

event list
=> Event type, tag, occurrence time, coordinate, angle event explanation

- Indicate the correspond event on the map

When clicking information (Example)

When clicking display

2.5. Information

2. Black box viewer explanation

Cleaning start meticulous cleaning (SB)

Image capture position

Error notification, dust bin error

Message for map data save

B.B can be confirmed visually
- Debugging can be done by confirming the event (Cliff, doorsill)
- Each color can be set and confirmed in the simulation control box
- Classified three areas (Cleaning area/ non-cleaning area/barrier)

Possible to set regarding map
- Possible to play and stop based upon an event list content
- Possible to set color and shape of occurred event

2.6. Map

2. Black box viewer explanation

① Input employee
number and pw

② Select SCS of SITE LINK

③ Click CS support community

④ Click technology/
Specification notice

⑤ Select the program from a list and save in attached file USB
(It is not implemented well on a security program installed (Navi) PC
because the file is save as a code.)

* File list
- blackbox.sh (File)
- blackbox (Folder)
Place above tow files at the top
path of the USB
B.B data is automatically saved
under the black box folder

Black box viewer manual

3. Black box viewer use method

3.1. Program download for black box data upload

and put USB memory that
the program for black box upload is saved.
Then close the cover

⑧ Turn the power on

⑨ Booting starts by showing a booting animation,
Upload starts with a voice guidance of “Black box data loading begins.” ,
Upload completion is notified with a voice guidance of
“Black box data loading is completed.” Then booting starts automatically.

Black box viewer manual

3. Black box viewer use method

3.1. Program download for black box data upload

for black box data upload

① Black box viewer program implementation

Click the list which you want to look at
on the check box of the event tag list

② Click File -> Log and load log file

④ Upload completion Debugging by using the loaded file
=> Find out the error type and position
=> Improve robot key use environment for users
⑤ Implement start/end/color selection by using a simulation control box

charging the charger
- In status of non-installation of mop (Prevention of sensor misjudgment)
- In status of installation of dust bin
- Minimum battery status is more than medium
- In status of non-lifted wheels

* If a reservation is set, the reservation is canceled and then the diagnosis starts

2. Diagnosis result voice message repetition function and diagnosis mode removal
- Diagnosis result voice message can be repeated as much as the users want
(Implement by pressing the charge key)
-Diagnosis mode removal is possible using a stop key only

※ When there is no operation for a minute after a voice message guidance, it automatically returns to the charge mode
※ In case where there is any problem in barrier sense sensor, ultrasonic sensor, cliff sense sensor, only voice message is provided without returning to the charger and then the smart diagnosis function ends.

Function that the problematic information of main parts such as sensor and motor of the main body is found out itself and guides customers with a method to take action via voice

Operation condition : Press “Smart diagnosis” button on the remote controller while charging

and then upgrade as an order below

1. Update program download method (1)

http://smile.lge.com
① Input employee
number and pw

② Select SCS of SITE LINK

③ Click CS support community

④ Click technology/
Specification notice

⑤ Select the program from a list and save in attached file USB
(Use the formatted USB that is only for updating)

* File List
- RKHIT_verXXXX.zip
(XXXX is a program version)

here

⑧ Confirm whether the usr folder and update.sh file are positioned on the top
of the USB

cap and put USB memory that
update program is saved. Then close the cover.

⑪ Turn the power on

⑫ Booting starts by showing a booting animation,
Update starts a voice guidance of “Software will be updated.”,
Update completion is notified with a voice guidance of
“Software update is completed.” and the power turns off.
Then booting starts with the updated program.

1. Update program download method (3)