Contents of the WorkPlan to be created in Chapter 3
"Approach the wall with the button and press the button."
Specific actions to be taken
- Change the settings so that you move closer to the wall, and then move from a short distance to the button.
- Change the height of the lifter so that the button appears on the chest camera
- Approach the button press position
・Press a button
-Restore lifter height and collision detection range
Create a WorkPlan
First, create a new WorkPlan
*For how to create a new WorkPlan, please refer to " Executing, Creating, and Editing WorkPlans (Procedures) "
Step #1: Move to where the button is
Set the commands " Anti-collision: Press button " and " Map correction ON/OFF " in the pre-settings.
" Collision Prevention: Button Press " is a command that narrows the collision detection range so that you can get close enough to press the button.
" Map correction ON/OFF " is a command that allows you to switch map correction ON/OFF. This time, we will disable the correction item (if it is enabled, it may interfere with the position adjustment operation described below).
Set the main action to " Go straight ◯m, ◯m in front of the wall " with the distance from the wall set to 70 (cm) , and move the aircraft forward to a position 70 cm away from the wall in front.
Set the " Patrol Posture " command in the post-settings to prepare for the next step (changing the lifter height).
Step #2: Adjust the height of the lifter so the chest camera can see the button
First, measure the height at which the button will be displayed (the number to enter in the command) in the following order.
1. Enter the "Change lifter height" command set to 850 (mm) into the command list and execute it.
2. Face the aircraft to the wall with the button, measure the height difference (mm) between the position of the aircraft's chest camera and the position of the button, and subtract the height difference from 850 mm to enter the value in the command.
(As long as the button is visible on camera, you can press it, so an approximate number is fine.)
Set the main action to the " Change lifter height " command by entering the value obtained in the above step, and make the button appear on the chest camera.
Step #3: Get close enough to press the button
Before setting the command, record the button press position using the following procedure (Partial Map).
1. With the aircraft facing the wall with the button, extend the tape measure vertically from the aircraft's chest camera to the surface near the front button, and position the aircraft 45 cm away from the wall.
2. Open the Map Editor from the operation screen and create a partial map .
If you are unfamiliar with creating a partial map, please see here .
Set the main action to the " Adjust Position " command by selecting the partial map created in the above steps.
Step #4: Set the step type to button operation (right arm) and perform the button press action.
This step involves pressing a button, so set the step type to " Button Operation (Right Arm). "
The main action is where you set the command to be executed after pressing the button.
This time, set the " Patrol Stance " command as the main action , and return from the button-press stance to the patrol stance.
Step #5: Finally, return the lifter to its high position.
The final step is to reset the settings to make it safe to operate after this WorkPlan is finished.
Set the " change lifter height " command to 800 (mm) as the main action to return the lifter to a higher position.
Set the " Collision Prevention: Default " command in the post-settings to return the collision detection range to the state it was in at startup.
Once you have completed all the settings, click " Update " at the bottom right of the page to save.
Let's actually run the WorkPlan we created this time.
First, open the WorkPlan.
Please refer to here for how to open WorkPlan.
Step #1: Move to the button
In this WorkPlan, the command is included in the preset in step #1, so the preset command will be executed when the WorkPlan is opened.
Click " 70cm in front of the wall " to move the aircraft to the front of the wall.
Step #2 Lifter Height Change
Click " Change Lifter Height " to match the height of the body and buttons.
Step #3: Get close enough to press the button
Click " Adjust Position " to move closer to the position where you can press the button.
Step #4 Press the button → execute patrol posture to proceed to next step
If you set the type to " Button Operation (〇 Arm) " during setup , the image from the chest camera will be displayed on the operation screen.
It becomes a special cursor in the displayed image , and the protrusion of the arm presses the place you click.
Click " Patrol posture " to return from the button-press posture to the original posture
Step #5: Reset the lifter height and collision detection range
Click " Change Lifter Height " to return the torso to a higher position
This concludes Chapter 3.
Thank you for your hard work.