Phomatix Ottugi MappingBot User manual

Phomatix))
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5005!W!Royal!Ln,!Suite!183E!
Irving,!TX,!75063!
E-Mail:![e-mail]!
Web:!www.phomatix.com!
Ottugi&MappingBot*)
User)Manual)Version)1.0)
January!2017!

Phomatix)
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User)Manual)
This!user!manual!describes!how!to!operate!Ottugi!the!MappingBot!as!illustrated!in!Figure!1.!!
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Figure'1:'Ottugi'the'MappingBot'with'a'camera.'
Turn)On/Off)
To!start!the!robot,!you!need!to!press!On/Off!toggle!switch!at!the!back!of!the!robot.!
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Operation)
1. In%order%to%start%the%mapping%process,%a%digital%camera%such%as%GoPro%or%a%smartphone%is%needed.%%
2. The%camera%setting%must%be%in%self-timer%mode.%The%self-timing%duration%will%determine%the%resolution%of%
the%3D%model%and%the%period%of%image%stitching%process.%The%recommended%duration%is%0.5%second%or%2%
shots%per%second.%
3. Mount%a%digital%camera%or%a%smartphone%with%a%selfie%stick%in%90%degree%to%the%robot's%proceeding%direction.%
4. Turn%on%the%power%of%the%robot.!
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Ottugi!the!MappingBot!has!two!navigation!modes:!autonomous!and!manual!

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1. Autonomous*mode*
The%default%function%of%the%robot%is%set%for%autonomous%navigation%with%potential%field%path%planning.%Robot%has%
a%tendency%of%following%a%wall%or%objects%on%the%left%or%right%hand%sides.%The%robot%automatically%avoids%collision%
by%front%side%sonar%scanning.%In%case%the%robot%collides%with%an%obstacle,%the%robot%detects%the%collision%by%
accelerometer%and%moves%away%from%the%obstacle.%Therefore,%the%human%intervention%during%the%mapping%
process%is%minimized.%In%case%users%do%not%want%to%use%the%automatic%scanning%and%navigation%function,%manual%
navigation%functions%are%also%available.%
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Autonomous%mode%also%supports%patterned%motion.%There%are%four%supported%patterns%such%as%linear,%circular,%
arc,%and%square%motions.%Users%can%specify%size%of%the%motion%via%parameter%entry.%
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For%autonomous%navigation,%the%gap%to%the%wall%is%optimized%for%PID%control%and%path%planning.%The%distance%to%
the%wall%is%preset%to%be%50cm.%Users%can%change%the%gap%distance%for%different%applications.%The%robot%is%able%to%
move%around%corners%and%make%sharp%turns%by%auto%navigation.%
2. Manual*mode*
In%manual%mode,%a%user%can%use%a%cellphone%like%a%remote%controller%via%Bluetooth%communication.%Supported%4%
manual%motions%include%'move%front',%"move%back',%'turn%right',%and%'turn%left'.%%Figure%2%displays%Ottugi%app%
running%in%Android%mobile%phone.%%This%app%can%be%either%downloaded%from%Google%Play%Store%or%obtained%from%
Phomatix%customer%service.%(Currently%the%app%works%with%Android%version%5.0%and%higher.)%
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Figure'2:'Ottugi'App’s'main'screen'
When%the%Ottugi%app%is%launched,%it%connects%to%robot%through%Bluetooth%automatically.%The%connection%status%is%
indicated%in%the%Bluetooth%status%(3).%If%the%app%does%not%connect,%try%“scan”%in%the%sub%menu%(2)%or%try%reset%
button%of%the%robot.%By%selecting%the%button%(6)%or%(7),%robot%works%in%either%manual%or%automatic%mode.%
Followings%explain%the%buttons%on%the%screen.%%

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1:%Main%menu%button.%This%main%menu%will%show%more%options%for%app%and%robot%settings.%
2:%Sub%menu%button.%This%sub%menu%will%show%more%options%for%Bluetooth%connection%
3:%Bluetooth%connection%status%
4:%Shows%currently%selected%button%status%
5:%Button%to%hide%and%show%other%buttons%
6:%Button%for%manual%mode%selection%
7:%Button%for%automatic%mode%selection%
8:%Button&for&pattern&mode&selection&(Not&supported&at&this&time)&
9:%Button%for%turning%left%
10:%Button%for%turning%right%
11:%Button%for%moving%forward%
12:%Button%for%moving%backward%
13:%Button%for%stop%
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Image)Data)Transfer)
Once%the%robot%scans%enough%data%in%the%given%environment,%user%can%transfer%the%obtained%data%for%3D%image%
stitching.%Image%data%in%SD%card%needs%to%be%transferred%to%a%computer%for%image%stitching%process%(no%other%data%is%
necessary)%
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3D)Modeling)
User%can%use%3D%stitching%software%such%as%Agisoft%Photoscan%or%an%open%source%code%such%as%XuvTools.%In%case%a%
user%is%not%familiar%with%the%3D%modeling%process,%Phomatix%provides%full%service%of%3D%image%stitching%free%of%
charge%for%the%first%month.%The%service%includes%wireframe%modeling,%surface%modeling,%3D%cloud%point,%and%full%
color%texture%modeling.%
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Figure!3%and%Figure!4%illustrate%examples%of%3D%building%mapping%and%human%modeling.!
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Figure'3:'3D'building'mapping.'
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Figure'4:'3D'human'modeling.'
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