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:

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3) Select the pencil tool, select white color, brush size as appropriate. Draw out the white line path,
and the robot will only walk in the white area. It is recommended to use the shift shortcut key
to draw lines when painting lines, so that the effect is relatively smooth. As shown in following
4)Save map:
Click file export as -- click export (pay attention to the export path)
After editing, please put the new map into the robot_Under DSR, the original name is "map. pgm".
Note: White color paths/area means robot can walk here valid. no traffic area
Gray color area means robot is forbid to walk, these are invalid area for robot.
5) Power off robot
After doing above items, please power off robot main power,and move robot to the “Home Station”,
This “Home Station” generally is the robot charger dock station or the food counter center.
2.4.3 Setting the Home Station coordinate and all tables coordinates:
1) Set the catering location:
After the completion of map building and map editing, the 1st thing is to set the
coordinate values for “Home Station”. It is necessary to manually re-write the
coordinate values in robot_dsr/install/share/rbx1_nav/launch/tb_amcl_bd.launch
file, these three re-write data are: initial_pose_x , initial_pose_y, and initial_pose_a.
(Note: you should use ftp to login the robot PC firstly, this file is stored in robot PC.)

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How to calculate the real world coordinate data for a map pixel:
The lower left corner of the map coordinate is the origin (0,0) zero site.
The ratio of pixel to map coordinate is 0.05
Use GIMP open the map and move mouse to the site of the Home Station you
wanted, as shown in following. The map pixel coordinate for this site is
[229 ,182], which is shown on the bottom row, see following demo:
In following image, top red mark “608x512”shows the map size(W x H)
middle red mark shows the site of “Home Station”
lower red mark shows pixel coordinate for Home Station

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The real world coordinates for pixel [229, 182] can be calculated as
x = 229 * 0.05 = 11.45 (meters)
y = (512 - 182) * 0.05 = 16.5 (meters)
a = 0.0 , head to the right side of the map, or
1.57, head to the top side of the map, or
3.14, head to the left side of the map, or
-1.57, head to the down side of the map
Re-write initial_pose _x, initial_pose_y, and initial_pose_a with this
new [11.45, 16.5, 1.57], see following:

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After re-write robot_dsr/install/share/rbx1_nav/launch/tb_amcl_Bd.launch
file, move robot to this home station and restart the robot. When robot
restart successfully, cat face will be normal “sleeping”, no “Locating
Failure”on screen. In the future, if you want to change this Home Station,
just drive the robot to the new site, and then enter the setting map interface,
click the “Confirm the charging position” button, see following:
Note: “Confirm charging position”= set a new “Home station”
See above image, similarly, you can set all table site coordinates, just drive
the robot to the front of the dining table with the remote controller, and click
“Add dining table” button.
\

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Diagram for robot operating process

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§3 CAUTION
3.1 Pre charging: before the robot is used for the first time, please put it on the
charging dock to charge for at least 3 hours, or you can use portable charger to
charge the robot at least 3 hours.
3.2 Operators: operators must receive technical training from YZ Robot tech Co.,
Ltd. After passing the training, the robot can be operated directly.
3.3 walking range: the walking range of dsr02 robot can not exceed the
delimited range of the initial construction map, and the maximum activity space
range of dsr02 standard configuration is less than 2000 square meters. If the use
site is more than 2000 square meters or the robot needs to be moved to other
places outside the initial map for use, the technical personnel of our company
should consult in advance.
3.4 Troubleshooting: if the robot is abnormal in use, please immediately press
the red emergency stop switch, and long press to turn off the power, then slowly
push the robot to the charging pile and restart. Generally, the robot will return
to normal. If the robot still can't use normally after restart, please inform our
technical service personnel for remote intervention or restart as soon as
possible Door to door processing. Do not disassemble and repair without
permission.
3.5 schedule maintenance: the dsr02 robot needs to be stopped for
maintenance every 200 km or 2000 hours. The maintenance of the robot is
carried out by technicians authorized by YZ Robot Co Ltd to the actual working
site of the robot. Unauthorized personnel are forbidden to disassemble.
3.6 safety precautions: please remember the following important safety
precautions:
When the robot walks abnormally, please press the red emergency stop
switch on the back of the machine immediately!
In case of smoke or peculiar smell in the robot body, please turn off the
machine power immediately!
In case of serious collision or fall accident, please turn off the power
immediately!

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Appendix A: introduction of remote joystick and map creating
1、Understanding joystick
When creating the site map and manual remote control robot for the first
time, we must rely on the remote control handle. The following figure shows
the front view of the remote control handle, and the distribution of the keys
is as follows:
2. How to use
Firstly, make sure MR9 robot is power on. Then press the circular "mode select” key
at the middle position above the handle. If you press it once, the remote control function
of the handle will be turned on normally. At this time, the first and the third status LED
will appear green constants. (Note: if all four LEDs flash at the same time, it means that
the robot is faulty or the handle is too far away from the robot, so the handle can't receive
the robot signal; if two indicator lights flash, it means the battery power in the handle is
too low, please charge the handle with standard USB cable for 1 hour; if the 2nd and 4th
LED are on, it means that the mode and robot do not match Press "mode selection key"
again.)
LT(Top-right corner, upper)
RB(Top-left corner, lower)
RT(Top-left corner, upper)
Mode select
B
A
Robot run forward/back
Robot Turn left/right
PTZ head pan/tilt
Status LEDs
Note: X, Y, BACK, START, these four keys are not actived
。
LB(Top-right corner, lower)

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2.1 Control robot move
Robot turn left/right:Hold on“LB”and push“Robot turn” left/right
Robot run forward/back:Hold on“LB”and push“Robot run” forward/back
2.4 Remote control robot goes to the charging dock to charge
When the robot is about 1 m in front of the charging dock, if the <LB> + <A>
key is pressed and hold at the same time, the robot will automatically return to
the charging point to charge.
When the robot is not about 1 meter in front of the charging pile, please use
the remote control handle to move the robot firstly about 1 meter in front of the
charging pile, and then press "LB key" + "a key" at the same time.
When the map has been built and the robot is positioning and navigating
according to the map, if press the "LB key" + "RB key" + "a" key at the same time,
and the robot will be terminated all current tasks, go back and recharge by
yourself.

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Appendix A DSR02B Delivery Service Robot specification:
Basic Functions
LIDAR SLAM/ Room Delivery Service/ Vision
Surveillance/ Auto-Charging
Recommended application
Restaurant, Hotel & Hospital delivery goods serveice.
Size and weight
52X48X125cm, 35Kg
Storage cabin volume
Three layers 40x40x30cm
Max. load weight
3x10Kg.
Localization & Navigation
LIDARs is used as main SLAM, Computer-vision
supported.
Motors & driving
Two wheel differential drive, Integrated 2X150 hub-
wheel motor, high efficiency and low noise.
Main hardware
The main board is industrial PC, CPU is core I5
processor, 4G RAM, auxiliary board is ARM arch.
Robot software system
Main O/S is LINUX, with ROS to communicate and
cooperate with each function modules.
Client Software
Provide client monitoring software; provide Android
SDK for customer development.
Robot motion features
Walking speed is 0.2 to 0.8 m/sec, maximum climbing
angle is 10 degrees, and turning radius is 0.25m.
Obstacle Avoidance
Laser radar scanning, ultrasonic detection and
mechanical anti-collision switch three safe.
Battery Specification
The built-in battery is 18V20AH LIFEPO4.
Automatic Charging
After the task is completed, will automatically back to
charging station to supply energy.
Maximum walking distance
For a fully charged robot, it can walk continuously up
to 3000M.

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Appendix C DSR02B Drawing
Table of contents
Other YZ Robot Robotics manuals