Left Hand Robotics RT-1000 User manual

INSTALLATION GUIDE:
BASE STATION
Version 2020.01.29

Base Station Install Guide 2
Copyright © 2020, Left Hand Robotics, Inc. All Rights Reserved.
Left Hand Robotics, Inc.
1880 Industrial Circle
Suite E
Longmont, CO 80501

Base Station Install Guide 3
Introduction
Left Hand Robotics’ RT-1000 autonomous robot relies on knowing precisely where it is
in order for it to mow turf or clear snow. To determine its location, the robot relies on
GNSS (Global Navigation Satellite System), a system that uses data from satellites
1
orbiting earth to determine a precise position on the ground. Unfortunately, single GNSS
receivers are unable to provide accuracy to the level that the RT-1000 needs. Standard
units provide an average accuracy of approximately 13 feet (about 4 meters) under
normal clear-sky conditions. The RT-1000, in order to provide accurate and safe
operation, needs a minimum accuracy of about 2.8 inches (about 7 cm) for normal
driving.
Fortunately, there is a method to get the level of accuracy we need through an advanced
technology called GPS RTK (Real-Time Kinematic)
2
. GPS RTK relies on a base station
3
to transmit correction data to the RT-1000 from a fixed point within range of the rover
A base station is just another GPS receiver, but its location is precisely determined at
initial installation.
If, for any reason, the antenna must be relocated after implementation, please contact
LHR Support for assistance with making the adjustment.
There are several characteristics of the installation that need to be maintained to provide
consistent operation of the robot. The most important are that the base station receive
antenna maintains a stable, 360° horizon-to-horizon unobstructed view of the sky and
that the receiver is provided with a reliable A/C power source and full-time access to
the Internet.
Should your operation of the RT-1000 require distances greater than 12.4 miles (20
kilometers) from your base station, please contact Left Hand Robotics or your local RT-
1000 dealer for pricing information on additional base station installation kits needed
to meet your specific needs.
1
GPS (Global Positioning System) is the US version of a GNSS.
2
https://en.wikipedia.org/wiki/Real_Time_Kinematic
3
Also, often called a reference station.

Base Station Install Guide 4
Installing and Activating the Base Station
1. Verify Package Contents
2. Determine Location for Components
3. Mount Base Station (and GPS Antenna)
4. Operating the Base Station
Verify Package Contents
Upon opening your package, please ensure you have all of the following items (see Figure
1 and Figure 3):
Figure 1: Base Station parts
1. Power adapter
2. GPS Antenna
3. GPS 4-meter Antenna Cable
4. Antenna cable to Duro adapter
5. Power cable
6. Duro GPS Receiver (Base Station)
7. Ethernet cable
1
2
3
4
5
6
7

Base Station Install Guide 5
8. Mounting screw and two washers
9. Pole mounting bracket
10.U-bolts and nuts
Some individual components may vary in appearance, coloring and design. Please
know that all provided kits have the same capabilities.
If the supplied antenna cable () is not long enough, then you will need to purchase
a longer cable. We recommend an LMR 240 (15m/50ft) or LMR 400 (longer than
50ft) cable. You can also use the following (15m/50ft) cable and connector from
Amazon that is a bit less expensive:
https://www.amazon.com/gp/product/B01FVWCKKE/ref=oh_aui_detailpage_o03_s0
0?ie=UTF8&psc=1
https://www.amazon.com/gp/product/B071CZ5Q7Y/ref=oh_aui_detailpage_o03_s00
?ie=UTF8&psc=1
8
9
10
Figure 2: GPS Antenna mounting parts

Base Station Install Guide 6
Determine Component Mounting Locations
When determining a location for the base station, consider the following important
characteristics of an ideal location:
●The correction data transmitted from a base station is only valid within 20 km
(about 12.4 miles) of the base station. Ideally, you will want to choose a location
that can cover as many of your jobs sites (paths) as possible. You may very well
have to install multiple base stations to get the coverage you need depending on
your intended use. Note that an entire path must be within range of a single base
station (see Figure 4).
●The GPS antenna must be as high as possible so that it has an unobstructed,
360° view of the sky and horizon. The better the view of the sky, the better the
correction data will be and the faster it will be able to get the high level of precision
needed.
●The GPS antenna needs to be mounted in such a way that it will not move, even
under reasonably gusty wind conditions.
●The base station transmits its correction data to the robot and PCT over the
Internet. See Connecting to the Internet, below, before determining a final location.
●The Duro requires a constant A/C power source for continued operation.
20 km
Figure 3: Base station and paths it can support.
The black paths are entirely within the range of
the base station. The red paths are too far away
and would require a separate base station that is
within 20 km of the entire path.

Base Station Install Guide 7
Figure 4: GPS antenna mounted to top
of building with 360-degree view of the
sky.
In the ideal configuration, the GPS antenna is
mounted in a permanent fashion. It is high
above structures with a 360° view of the sky on
a stiff, sturdy, unmoving structure with no
obstructions higher than 10° from the horizon.
The base station box itself (the yellow Duro) can
be mounted anywhere1, including indoors, as
long as it has access to the Internet and power.
The only requirement is that the cable from the
antenna can reach the Duro (the supplied cable
is 4 meters (13.1 feet)).
It is recommended to periodically inspect the
antenna for seasonal changes, vegetation
growth, snow build-up, etc. to insure long-term
continued operation.

Base Station Install Guide 8
Connecting to the Internet
The main function of the base station is to send correction data to all the devices that
need it, i.e., the robots and PCT’s within its effective operating range. To do this, the
correction data is transmitted via the Internet to those devices.
There are multiple ways to connect the Duro to the Internet. The following lists the
different methods in the order in which we recommend making the connection.
1. The best way to connect the Duro to the Internet is via a hard-wired connection.
The supplied ethernet cable, which should be connected to the Duro, should be
plugged into an available ethernet jack that is wired to an Internet accessible
data connection.
2. If an ethernet jack is not available, then the next best way is via a local Wi-Fi
network. To do this, you will need to purchase a wireless bridge
4
that allows you
to plug in an ethernet cable. You would then configure the bridge to connect to
your local wireless network.
3. If you cannot get the Duro onto the Internet either via wired or Wi-Fi, then you
will need to rely on a cellular modem. In this case, you will need to have
purchased the Left Hand Robotics Base Station with the Cell Modem option.
There are two versions of this: one for mounting the cell modem indoors and one
for mounting the cell modem outdoors. In either case, the supplied ethernet cable
is connected between the Duro and the cell modem. Note that it is important
that the cell modem be mounted in a place that has a reasonably strong and
reliable signal strength and can connect to your configured cellular network.
It is important to be sure that your network is configured so that the Duro can reach
outside of your network. In particular, it must be able to access the web site located on
port 8877 and 8878 at address roc.lefthandrobotics.com. If your Duro is not able to connect
to this address (the red network light is not illuminating after you supply power - see
the next section), your network may be blocking (i.e., via a firewall) outbound access to
port 8877 and/or 8878.
4
These are also known as wireless range extenders. Here is an example: TP-Link N300 Wireless Portable
Nano Travel Router, but note that you need to understand your own wireless network to ensure that the
device you get works with your wireless network technology.

Base Station Install Guide 9
Mounting the Components
[Numbers in circles below refer to correspondingly numbered items in Figure 1 and 3.]
First, be sure you have located an appropriate location for the antenna and the Duro.
In particular, be sure that the cable can reach from the antenna to the Duro. Then be
sure that the Duro can reach a power outlet and an ethernet outlet (or you will be using
a wireless option).
Please note that the Duro itself is rated to be installed outdoors, but you would then
need to run the power and ethernet cables indoors to appropriate outlets.
Install the Antenna
You can use the supplied mounting bracket and U-bolts (see Figure 3) if you are going
to attach the GPS antenna to a pole. In this case:
1. Using the supplied screw and washers , attach the antenna to the bracket
as shown in Figure 5. Note that there should be one washer above the bracket
and one below the bracket to ensure that the antenna is snug to the bracket.
2. Unscrew the protective cap on the bottom of the antenna (see Figure 6) and run
the antenna cable through the other hole in the mounting bracket. Attach the
antenna cable to the GPS antenna (see Figure 5).
Figure 5: GPS antenna mounted in bracket.
3. Place the bracket against a pole and use the two U-bolts to securely attach the
bracket to the pole at the top of the mast. Remember that the pole must be very
sturdy as the antenna must not move (even in wind) once mounted otherwise the
accuracy of the robot will be affected and the antenna must have a 360˚
unobstructed view of the sky.

Base Station Install Guide 10
Figure 6: Bottom side of GPS antenna
Install the Duro
1. Mount the Duro on a wall or other permanent surface.
2. Attach the small antenna adapter to the end of the GPS antenna cable. Then,
connect the GPS antenna cable via the adapter to the A connector on the Duro
as shown in Figure 7.
3. Connect the Duro power cable to the B connector on the Duro as shown in
Figure 7. Then connect the power adapter to the end of the power cable.
4. Connect the ethernet cable to the Duro C connector as shown in Figure 7.
Then plug the ethernet cable into your local network with access to the Internet.
GPS antenna
cable connector
(unscrew cap).

Base Station Install Guide 11
Figure 7: Duro base connectors and status lights
Operating the Base Station
Once all the cables are connected, plug the power adapter into an AC outlet. The
green power light on the Duro should light. Once the Duro is connected to the network,
the red network light will also light (see Figure 7). After a few seconds, you should see
the GPS Signal light (orange) start to blink indicating that the Duro is receiving GPS
signals from the antenna. A solid amber light indicates that the Duro has received
enough data to be able to compute its current position.
If you do not see the red network light, it means that the Duro is unable to connect to
your local network. This could mean that the Duro itself is misconfigured or that your
network is not configured to support DHCP. Please first check with your network
administrator to ensure your network is active, configured for DHCP and has Internet
access. If this is true, then contact Left Hand Robotics support for assistance.
You can also tell that the base station is connected via the LHR web site application:
1. Connect your browser to https://roc.lefthandrobotics.com
2. Log in to your user account.
3. From the Home page, click on the Inventory icon.
4. You should see a new base station listed. The address is based on the coordinates
that the base station has determined for itself. The address will not appear until
after the base station has completed its survey in process (between 4 and 24
hours from when it was first connected). The state should show as IDLE.
Once the Duro is up and running, no regular interaction is required. It needs to remain
powered and connected to the Internet at all times so that it can be instructed to send
correction data to your other LHR devices as needed on demand.
A
C
B
Power
Network
GPS Signal