Wireless/Internet Remote Monitoring Robot with Indoor (Constellation) GPS and Auto-Recharging
   - [P/N: SENTINEL2]

* This item is Discontinuation

****** Discontinued******

Replacement parts: Sentinel3

Key Features

  • Pan Tilt Zoom High Resolution Camera
  • Two-Way Audio
  • 320x240 Color Programmable Touch LCD
  • Fully Wireless Networked (WiFi 802.11G)
  • Lightweight and Large Payload Capacity Weight 6Kg with Max payload 15Kg (Optional 40Kg)
  • Tele-Operation and Remote Monitoring via Internet the included i90 Robot Explorer TM program features remote monitoring, robot control and two-way audio

  • Constellation Autonomous Navigation Positioning System continuously provides up to 1 inch (2 cm) position accuracy and 2 degree orientation accuracy

  • Auto-Docking and Auto-Recharge Station used with Constellation system, providing robot 24x7 fully autonomous operation and self recharging capability without human assistance

  • Large Selection of Upgrades 5 DOF servo arms with gripper, Camera on arm, Stereo Camera Head, 3D laser scanner (range finder), multiple Cameras, long range RFID reader and more

  • Extended Operating Time 3 hours (i90 base robot with standard battery pack) and upgradeable to 6, 12 or 24 hours in between recharge

  • OS Independent Programming Support Operating system independent robot control and data communication protocols are provided for developing customized robot applications for any operating system or devices that supporting TCP/IP communication. High level ActiveX controls are also provided for rapid development under Windows 2000 or XP

  • Sentinel2 represents a leap forward in intelligent mobile robots. For the first time, consumers have the opportunity to buy an autonomous robot with a robust navigation system and intelligent charging station in a single package. Sentinel2 began from the idea of developing a office / home version of the autonomously patrolling robots that Dr Robot deploys for its industrial clients. The challenge lay in redesigning the Constellation system, Dr Robotís navigation technology, for a residential environment. Within working facilities, Constellation must often receive and send data over long distances and compete with other high-energy wireless communication systems on near spectra. The office / home environment offered Dr Robot the opportunity to shift Constellationís focus away from power and on to sensitivity. The resulting residential version of Constellation is low power system that can provide high accuracy with only few components.

    With Constellationís redevelopment complete, providing the core functions of intelligent navigation: localization, path planning and collision avoidance, followed easily.

    Sentinel2 derives its name both from its ability to maintain awareness of its location within its environment and also the base robotís typical application in commercial and industrial settings as a security and remote monitoring robot. As a package, Sentinel2 provides users with the base functionality of intruder detection, remote monitoring and telepresence as application modules, but also includes the Dr Robot Developer Toolkit, enabling advanced users to create their own tasks for the robot to serve. Moveover, like all of Dr Robotís robots, the core technology is platform independent, permitting integration of the robot into any network system communicating via RS232 serial or Ethernet TCP/IP.

    The Sentinel2 package includes everything you need to deploy a fully autonomous intelligent robot in your office / home. Hardware components include 3 pairs of navigation transponders (additional transponders can be ordered separately), an intelligent charging station and the most robust robot platform Dr Robot has developed. Once set up, the robot can patrol its environment and self-regulate its power supply, returning to the charger when necessary.

    These core functionalities support Sentinel2's included software modules: telepresence and remote monitoring. Also, Dr Robot includes its Robotnik Kit, a software development toolkit that provides the means to program your robot to serve new tasks and roles limited only by one's creativity.

    Sentinel2 package contents:

      - Sentinel2 robot
      - Sentinel2 Charging Station
      - Constellation navigation system with 3 pairs of transponders (additional transponders can be ordered separately)
      - Telepresence & Remote Monitoring modules
      - Robotnik software developer toolkit


    Remote Monitoring
    From any location with an Internet connection, a user can see and hear exactly what Sentinel2 does. Integrated with Sentinel2's intelligent navigation system, the robot can cover an entire floor plan efficiently on a repeating or randomized schedule. Or, the robot can respond to any point-to-point navigation (e.g., "go to kitchen"), freeing a remote user from manually providing steering and direction. All the while, Sentinel2's camera and microphone provide a first-person sense of the robotís surroundings. The robot's onboard pyroelectric sensors will report if the robot detects the presence of a person in its vicinity.

    As a complement to Remote Monitoring, Sentinel2 supports two-way communication between individuals in the presence of the robot and anyone connected to Sentinel2 remotely by IP. As a form of telepresence, Sentinel2 permits verbal communication with individuals without requiring them to use a telephone or sit at a computer to do so. When actively linked to a remote user, the system's RA/RM modules offer convenience for those who may not have immediate access to an alternate means of communication.

    Robotnik Kit
    Sentinel2 includes Dr Robot's software developer toolkit, a powerful developer-oriented package that enables users to build their own software modules to control Sentinel2. Users enjoy easy access to all data in a standard Microsoft Windows programming environment (e.g., MS VB and VC++). For development and operation on other operating systems (e.g., Linux) and/or communication with other processors (MCU and DSP), the required raw communication protocol is provided. With free control to the robot's hardware, there's no limit on how Sentinel2 can be re-tasked. Moreover, since Sentinel2 can be modified with additional sensors, components or specialized, with the Robotnik Kit, Sentinel2 can be just the starting point for developing the robot you've always wanted.

    Platform Independence
    Adaptability is a crucial aspect to a mobile robot's functional survival, and as one of Dr Robot's design ideals, it extends to integrating our robots within an existing network. Platform independence is a facet of all of our technology, and whether a user is operating within a Windows environment or running on a Lunix system, Dr Robot's products can connect seamlessly via any available RS232 or Ethernet TCP/IP serial communication. Platform independence is another benefit of Dr Robot's pursuit of resiliency and flexibility in its mobile and autonomous technologies.


    Sentinel2's intelligent navigation system is based on Constellation technology, a proprietary system that has long guided robots through industrial facilities and warehouses. In this consumer version, Constellation has been condensed into a compact package that retains the accuracy of the industrial version. Intelligent navigation is comprised of three components and its their proper integration that yields a mobile robot system that can reliably locate itself, plot a course to its destination and then steer its way there -adjusting the route if necessary. Autocharging is the natural complement to such a system, and is the key to persistent service.

    Localization includes all technologies that enable a robot to determine its position and orientation within its environment.

    As its name suggests, the Constellation system enables a robot to navigate by providing a network of known stationary overhead reference points in the form of special transponders. The Constellation system enables a robot to navigate by providing a network of known stationary overhead reference points in the form of special transponders. Only a few of these units are required to provide a robot with reliable and accurate position and orientation information. (A single transponder can sufficiently cover 150-300 sq. ft. of area to position accuracy within 2 inches.)

    Constellation compatible robots are fitted with two positioning system sensors facing upward on the robot's chassis. These units both transmit and receive signals from Constellation positioning system transponders. Together they form the operative hardware underlying Dr Robot's intelligent navigation system for mobile robots.

    Constellation installs quickly and on a non-visual system, it functions independent of lighting conditions. Unlike localization technologies that rely on pathways of magnetic tape or patterns of RFID underlying carpets, Constellation installs quickly, and unlike localization schemes employing laser scanners, Dr Robot's transponder based-technology can simultaneously support multiple robots and is cost-effective to use in close quarters or expansive spaces alike.


    The robot issues a signal encoded for a particular position system transponder. The corresponding transponders issue a responding signal which is received by the two positioning units on the robot.

    Each receiver on the robot receives two signals. Based on the time interval between the robot's pulse and reception of signals from both transponders in the pair and the known location of the specific pair, the robot calculates its 3D spatial location and orientation.


    Constellation's path planning is the product of numerous optimization algorithms processed on a nodal map system. It follows a initial process of map construction and circuit development and refinement. Path planning subsequent to map construction operates on the existing map, but every route execution is also a refinement step. Constellation's path planning process from new environment to mapped space is outlined below.

    Finding one's way through an unfamiliar environment is as problematic for a person as it is a robot. People entering a building for the first time must rely on signs, directions and sometimes trial-and-error to find their way until they learn its layout. Similarly, a robot requires a map of its surroundings or the opportunity to build one by exploring it.

    Sentinel2 employs the nodal map-based navigation system of Dr Robot's Constellation technology. The nodal map functions like a subway route diagram, with paths indicating links between nodes that indicate waypoints or intersections with other paths. A software user interface permits creation and editing of nodal locations and the resultant map provides the primary reference for Sentinel2's autonomous navigation.

    When a robot patrols according to a planned path or receives a command that includes moving to a new location within its environment or otherwise must get from point A to B as part of its regular activity, it relies on the nodal map for global navigation.

    Adaptability is critical to autonomous navigation and combining the collision avoidance system not only helps robots avoid accidents, but also assists the robot to steer around obstacles in its path. Real-time adaptability in autonomous navigation to unexpected roadblocks is a hallmark of Constellation's functionality.

    Developed to operate through power outages in industrial settings, Constellation fuses sensor and encoder data to support navigation even outside zones of transponder coverage or during periods when transponder service is interrupted. If Sentinel2 loses contact with local transponders, it navigates using local spatial delineation sensors and dead reckoning until it reestablishes contact with the more accurate transponder system.


    Sentinel2 integrates 7 infrared distance measuring sensors and 3 ultrasonic range sensors to delineate the robot's immediate surroundings. The IR sensors employ precise, narrow beams to detect objects in the short range. The ultrasonic sensors cover a longer range and can detect small objects in both the near and far field. Internally, systems monitors the current powering its two wheel motors for spikes in the event that a moving obstacle intercepts the robot too quickly to avoid, or if an undetected object snags the chassis. Sudden surges in the power necessary to spin the wheels prompt the robot to stop, reverse and re-route. (If diagnostics and/or other sensors indicate a more severe issue, the robot will report a problem and await instruction.) Together, these sensor sensors create real-time local spatial descriptions. With this information, the robot can determine the best course to avoid nearby objects, both moving and stationary, and also when a path is too constricted to permit access and re-routing to its destination is necessary.

    With Constellation's navigation system, a robot can find its way to a charger when its batteries are low.

    The ability for a robot to self-charge and regulate its own power supply is a direct benefit of autonomous navigation. The charging unit that provides power to Sentinel2 has a built-in capacity to assist a robot in docking. Once a robot comes within 1 meter of the charger, the charger communicates directly with the robot to guide its backing into the docking station to begin recharging.

    Multiple robots can use the same station and conversely a robot is not tied to any specific charger and in large area deployments a robot can seek the nearest available charger when it needs to restore its battery reserve.

    With built-in redundancies and power balancing schemes, Sentinel2's power system is designed for the unexpected. While the robot needs to return to the charger when its battery power is low, it maintains separated reserves that permit it to return to active duty even if it's not finished charging. Additionally, running parallel power sources, the robot is designed to survive full failure in a battery system and continue to operate.

  • Sentinel2 Autonomous Navigation

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  • Sentinel2 Auto-Docking and Recharging

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  • Sentinel2 Constellation Navigation (GPS)

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    Included Main Modules:
    i90-ME i90 Mechanical Chassis 1
    AV-PTZ-VH Pan-Tilt-Zoom Camera with Two-Way Audio 1
    CONST-NAV Constellation Navigation System 1
    CONST-TRAN-STD Wall Mounted Constellation Transponder 3
    AUTO-CHAR12 Intelligent ďAuto-RechargeĒ Wall Mounted Charger 1
    PDM1950 Color LCD (320x240) 1
    WFS802G WiFi 802.11 Wireless Module 2
    PMS5005 Robot Sensing and Motion Controller 1
    MDM5253 DC Motor Driver Module with Position & Current Feedback 1
    DUR5200 Ultrasonic Range Sensor Module 3
    DHM5150 Pyroelectric Human Motion Sensor Module 2
    GP2Y0A21YK Sharp IR Distance Measuring Sensor 7
    MCR3210 RS232 Interface Module 1
    SP-AM-2W 2W Speaker with Amplifier 1
    CCR2150 RS232 Cross-Over Serial Cable 1
    MCA-50 40kg.cm 12V DC Motor with Integrated 800 Count per Cycle Optical Encoder 2
    PMCHR12 Power Management and Recharging System 1
    BPN1238 12V Ni-MH 3800mAh Battery Pack (can be upgraded to 9000mAh -BPN1290) 2
    - Joystick 1
    - Tele-operation/Monitoring Software 1
    - Software SDK 1
    Related items:
    Sentinel3 - Wireless/Internet Remote Monitoring Robot with Indoor (Vision-Landmark) GPS and Auto-Recharging

    SCOUT2 - Wireless (WiFi 802.11g), Dual 5DOF Arm and 1DOF Grippers, Internet Remote Monitoring Robot

    i90 - Wireless (WiFi 802.11g) Robot Core Development Platform with High Resolution Pan-Tilt-Zoom Camera, Color Video Display and Software SDK

    SPUTNIK - Advanced Wireless/Internet Remote Monitoring Robot with Software Development Kit
    USD $4595 / set

    X80 - WiFi Mobile Robot Development Platform with extreme mobility and Video/Audio Capability
    USD $2795 / set

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