YZ Robot DSR02B User manual

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DSR02B Indoor Delivery Robot
USER MANUAL
Rev: 3.1 (Nov, 2020)

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§1 Brief Introduction
§1.1 DSR02B features
DSR02B indoor delivery robot are designed for restaurant, hotel and hospital delivery
service. DSR02B have six-wheel elastic chassis, 125cm in height, 30KG in payload, three
independent 40X40X30cm storage boxes or three tray-layers. With waterproof splash design,
LIDAR and computer-vision do mapping, navigation and obstacle avoidance. It can be
equipped with 3rd party elevator control module, gate access control and other third-party
security modules, which can freely and accurately access the gate, automatic door, elevator
and so on.
DSR02B indoor delivery service robot can walk remotely or according to a predetermined
fixed route; can configure front-end camera AI algorithm (face recognition); equipped with
automatic charging dock. It can automatically return to charging dock after work, to achieve
uninterrupted work for 7X24 hours.
§1.2 DSR02B front parts
Depth Camera
Touch TFT Screen
Hub motor wheel
Speaker
LIDAR sensor
Ultrasonic sensor

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§1.3 DSR02B rare parts
Auto charger
guide sensor
Emergency Button
Main power switch
Upper LED
Red solid: charging
Red flash: low battery
Green solid: charged
Green flash: running
Upper LED
Red solid: power on
Portable charger port
Auto charger poles
(on robot’s bottom)
Charger AC input port
Charger poles

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§1.4 DSR02B default packing list
item
qty
unit
remark
Robot body
1
set
Battery charger
1
Pc
Auto-Charging dock
1
Pc
Remote Joystick
1
Pc
AC power cord
1
Pc
Operating software
1
set
.exe file for Windows o/s
User Manual
1
Pc
PDF format
§1.5 Special Notice
"DSR02B user manual" is compiled for the standard configuration. In the
real application filed, it is necessary to adjust the hardware and software of
the MR9 robot according to the user's specific site conditions and equipment
distribution before it can be put into use.
Please contact YZ Robot Tech Co. Ltd salesman before using.
§1.6 Auto charging dock (Optional part)
If you purchased auto charger dock, please install this charger dock to
a fixed location, against a back wall. Make sure the charger dock ahead is a
open space (at least 2 meter free space.
Generally, this charger dock location should be set as “Home Station”,
This “Home Station” is very important for robot running. To set the
coordinate for this “Home Station”, please see §2.4 section.

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§2 How to use
§2.1 Note before use
DSR02B robot is a professional automatic intelligent equipment, which can only
work in specific working environment. Before using, please be sure to complete
three training courses: “map construction”, “network configuration” and “client
software guidance”. Without the permission of YZ Robot Tech Co Ltd’s technical
personnel, modifying the relevant hardware or software configuration of the robot
may cause safety accidents and unnecessary economic losses.
§2.2 Create a map of your site
In an unfamiliar environment, DSR02B needs to be built a 2D space occupying
map when it is first used. The relevant technical personnel of the client should build
the map in strict accordance with the robot operation manual. After the map
construction is completed, you should assign the “Home Station” and all tables
coordinate.
Please refer to Section 2.4 for details.
§2.3 Normally use for deliver food/goods
2.3.1 Power on robot when robot at “home station”. Generally this home station is
the robot charger dock station or the food counter center.
2.3.2 After robot power on successfully, you will find following screen.
Here is a hidden button (in the upper left corner of the screen).
click it, you can enter to set up the map and set the table position
Cat face sleep means standby mode
Click on the cat's face to enter the delivery task mode

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2.3.3 Click on the cat's face to enter the delivery task mode，as following screen
Select table name (“1”, “2”…) and shelf (up, middle, lower), add this to task list,
After assign all tasks, press “GO” , the robot will auto run according task list
2.3.4 After press “GO”, robot screen will be a living cat face, as following

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2.3.5 When robot arrive task site and stopped, please take the food out, then
press ”Confirm” button, robot will go to next task site. After all task were done,
robot will auto go back to “Home Station”
§2.4 How to build a new map and assign the coordinate for “Home Station” and tables
See page 5,§2.3.2 photo，click the hide button (in the upper left corner of the screen)
You will find following scree image.
Press “Building maps” button to build a new map
Press “Set coordinates” button to assign coordinate for Home Station and tables site

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2.4.1 After you press “Building maps”，please use robot remote joystick to drive robot
slowly running along the corridors which robot will walking in future，the room maps
will be displayed on the screen. This job will take about 20~30 minutes for a general
middle size restaurant. When the new map down，please press ”Exit” button
see following screen.
2.4.2 Edit map：
1st, Install an image edit software (make sure it can edit .pgm format photo) on you
Notebook PC, such as GIMP , Photoshop, ACDsee.
Then open your PC Wi-Fi search and connect to robot hotspot “RobotHost”.
Password for “RobotHost” : szyz123456
2nd , Open your PC web viewer, input ftp://10.42.0.1:21 at address row.
3rd :Input ftp username and password。
USERNAME：robot
PASSWORD: 1

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After ftp login successfully, you will find following folds and files:
Please copy the robot_dsr/map1.pgm file to your PC local, then edit this photo according to
following rules:robot_dsr/map.pgm
Here we use GIMP to edit this demo map:
1) Set map size: Click Image - canvas size - input the appropriate width and height to cut out the
map. If your map is inclined, you can use image rotate tool to rotate map to good view degree.
Note: gray color on the image means invalid area, it can be cut off.
As shown following:

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Click change size to confirm
2) Fill in white area:
Click "oil barrel filling tool", select the color (press and hold down the CTRL and click the gray
area) to gray, then click the oil barrel on the white area. The effect is as shown in following: