What is the WorkPlan to be created?
"Press the button and take the elevator ."
The assumed situation
The exterior buttons are on the elevator to the left, and the interior buttons are on the left wall.
Overview
・Press the button to call the elevator
When the door opens, get on
・Press the button for the floor you want to go to
When the door opens, get off
In this case, the following actions are required for each step:
List of specific actions
Press the button to call the elevator
1. Change the settings so that you are closer to the wall with the button
2. Change to patrol position. *You can safely change the lifter height and press the button.
3. Use a partial map to move to the exact location of the button
4. Change the height of the lifter so that the button appears on the depth camera.
5. Set the step type "button press" and press the button
When the door opens, get in
1. Move to the front of the door
2. Change to patrol position. *You can safely change the lifter height and press the button.
3.Go forward and get on the elevator
Press the button for the floor you want to go to
1. Use a partial map to move to the exact location of the button
2. Set the step type "button press" and press the button
When the door opens, exit the elevator
1. Move to the front of the door
2. Move forward and exit the elevator
This time, we will perform each action in its own step (12 steps in total).
Information required to create this WorkPlan
Measure the distance with a tape measure or similar, and set the information in the command to use it.
Actually creating a WorkPlan
*For how to open the WorkPlan editing screen, please refer to " Executing, Creating, and Editing a WorkPlan (Procedure) "
-Press the button to call the elevator
1. Change the setting to be closer to the wall with the button
*Three options: "Wall correction OFF", "Map correction OFF", and "Change (reduce) collision prevention range".
2. Change to patrol position . *You can safely change the height of the lifter and press the button.
3. Use the partial map to move exactly to the front of the button (Partial Map ① in front of the boarding button)
4. Change the height of the lifter so that the button appears on the chest camera (height from the floor to the center of the button)
* When lowering the lifter, be careful not to let the arm interfere.
5. Set the step type "button press" and press the button
*By setting position adjustment as an auxiliary action, you can press the buttons more reliably.
When the door opens, board the elevator
1. Move to the front of the door (distance to the center of each door)
2. Change to patrol position * Button pressing can be done safely
3. Move forward and get on the elevator (distance to the center of the car)
・Press the button for the floor you want to go to
1. Use the partial map to move to the exact location in front of the button (Partial Map② in front of the button in the shopping cart)
2. Set the step type "button press" and press the button
When the door opens, exit the elevator
1. Move to the front of the door
2. Move forward and exit the elevator (distance from the center of the car)
Complete
Check the WorkPlan you created and click "Update" at the bottom right of the screen to save it.
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 Preparation before pressing the elevator button
In step #1, the pre-setting is "Change collision detection range", the main action is "Wall compensation OFF", and the post-setting is "Map compensation OFF".
At the start of this step, "Change collision detection range" is automatically executed, and after the main action is executed, "Map correction OFF" is automatically executed.
Click "Wall compensation OFF" and proceed to the next step.
Step #2: Change your posture
Click "Patrol Posture" to change the lifter to a position where you can safely change the height and press the button.
Step #3 Adjust your position in front of the button
Click "Adjust Position" and move to the front of the button.
Step #4 Changing the lifter height
Click "Change Lifter Height" to make the button visible to the chest camera
Step #5 Button Press
Chest camera footage will automatically appear at the start of the step
Place the cursor on the button you want to press and click to press the button with the arm.
※If you are unable to press the button properly, click the "Adjust Position" auxiliary action to move ugo in front of the button again.
Step #6 Move to the door
Click ⑥ to open the step, click "Move to the door (left) 90° version", turn 90° to the left, move to the door, then turn 90° to the right to face the front of the door
Step #7: Change your posture
Click "Patrol Posture" to change to a posture where button pressing can be performed safely
Step #8 Get in the elevator
Click "Move to the button inside the cart (left wall)" to move inside the cart, then turn 90 degrees left to face the button.
Step #9 Position yourself in front of the button
Click "Adjust Position" and move to the front of the button.
Step #10 Button Press
Chest camera footage will automatically appear at the start of the step
Place the cursor on the button you want to press and click to press the button with the arm.
※If you are unable to press the button properly, click the "Adjust Position" auxiliary action to move ugo in front of the button again.
Step #11 Move to the door
Click ⑪ to open the step, click "Move to the door (Down: Left/Wall)", move back a little, then turn 90 degrees to the left and face the door.
Step #12 Get off the elevator
Click "Get off the car" to get off the car.
Once all steps are complete, click Close to close the WorkPlan.
Supplement
・Elevator movement command
There are commands for the elevator door and button positions, so
Can be used in a variety of situations
・Other customizations
By setting commands such as "Turn on the ring light", "Call out", and "Change collision prevention range", you can expand the scope of your work and perform your work more stably.
Usage example 1
By adding ring light illumination to the lifter height change preset, the button becomes easier to see.
Usage example 2
By setting a call as a secondary action when moving in front of a door, you can ensure the safety of the surrounding area as needed.
Usage example 3
By adding a collision prevention range change (reduction) to the post-entry settings when entering the elevator , it will be possible to move around even inside a narrow cage.