How to create a Flow using the "Flow Call" command (Example: Inspection Task)

This article explains how to create and use Flows with the "Flow Call" command.
！Caution！

Note: This article assumes that you have already registered floors and created maps, or that you understand how to do so.

If you don't have basic knowledge of Flows, please refer to the separate tutorial first.

・What is the Flow Call command?

・Usage example

・Flow①

・Task Start and Task Complete Commands

・Flow②

・Review

◆ What is the Flow Call command?

The Flow Call command is a command exclusive to Flow/WorkPlan that can call and run a specified Flow.

It is mainly used to transition between WorkPlans and Flows, and to improve the readability of Flows when the number of commands becomes enormous while performing simple tasks or repeating the same tasks.

Using parameters, you can return to the parent Flow, or proceed without returning.

◆ Usage example

Operational Overview
This section explains flows used with the ugo mini.
This flow assumes that there are two pieces of equipment to inspect, and that photos are taken of the upper and lower meters, respectively.
In both flows, photos are taken four times and uploaded once, and are displayed as a single report in the report management screen.

The images below show the flow with and without the Flow Call command.

The idea is...
Instead of consolidating Start → Move → Inspect along the way → Move → Return to the charging station into a single Flow, 
use Start → Move → Call a Flow for inspection only → Move → Return to the charging station.

Separating the inspection logic from the navigation logic allows you to modify routes or add locations within the parent Flow without affecting the inspection tasks. 
Furthermore, by using Child Flows for specific equipment, adding new inspections is as simple as creating a new sub-flow and inserting a "Flow Call" command into the parent sequence.

◆ Flow①

Let's try creating a simple configuration.

First, create a new Flow. This will be the parent Flow.

Next, create an inspection flow (child flow).
For example, we can call it Inspection Flow (A).

Let's create the contents of the Inspection Flow (A).
We will create this flow assuming that it takes photos of two different heights of Machine A.

The Flow that performs an inspection should generally be executed once the robot has reached the inspection location.
Movement to the inspection location is performed in the parent Flow, but position adjustment should be included in the child Flow.
- Position adjustment - Partial map

Utilizing the Task Image Save command allows for organized documentation of inspection points. 
By pre-populating the "Checkpoint Name" field with the specific equipment or location name, you ensure a more streamlined and efficient report review process.

After taking photos, if you plan to navigate around the map again, be sure to lower the telescopic pole to a position of 800mm or less.
Driving at a height higher than 800mm may cause the robot to tip over and get damaged.

Now that we've created the inspection flow, we'll create the parent flow.
The parent flow will perform the following actions:
- Leave the ST
- Move to the destination
- Turn in a direction that allows for position adjustment
- Call the inspection flow
- Move near the ST
- Automatic Charging

First, remove the aircraft from the charging station.
When doing so, be sure to use the "Go straight" command.
After that, it will initialize its position and begin moving by patrolling the map.

Once you have traveled to the inspection location by patrolling the map, call the inspection flow.
The Flow Call command can be found in the Settings tab.

About Parameters
"Flow"
You can select the Flow to call. The Flow specified here will be called and played.

"Do Not Return to the Caller"
This setting applies when used within a Flow.
Enabled: After the Flow completes, the Flow will end without returning control to the parent Flow.
Disabled: After the Flow completes, the Flow will return to the parent Flow.

Depending on the command and parameter settings, the "Flow Call" function can be configured to execute workflows in the following ways.

For this task, we need to return to the parent Flow, so we will set "Do not return to the caller" to "Disabled" and add the command.

Now that we've added the call command, we'll add the command to move to the next location.
Just like when moving from the station to the inspection point above, we'll use the Start Map Patrol command to move there.
In this sample, this is the only inspection point, so we'll create a route back to the station in advance.

Once you have moved in front of the station, add the "Automatic Charging Start" command and connect to the station.

We've added all the necessary commands, but we're not finished yet.
From here, we'll explain the "Task Start" and "Task Complete" commands required to upload captured data.

◆ Task Start & Task Completed Commands

When using the "Flow Call" command, you should pay attention to the timing of the "Start Task" and "Task Completed" commands.
These commands control ugo report uploads, and there are a few things to keep in mind when using them in conjunction with the "Flow Call" command.

Pattern 1
"Start Task" in the parent Flow → Take Photos in the child Flow → Return to the parent Flow and use "Task Completed" 
With this method, tasks are started and completed exclusively in the parent Flow. So, only one report is uploaded to "Reports".
The name of the parent Flow is displayed in the "Task" column, and images taken in all inspection flows are included.

Pattern 2
Call an inspection flow from the parent flow → "Start task" in the child flow → Take photos in the child flow → use "Task Completed" in the called flow (inspection flow) → Return to the parent flow.
With this method, tasks are started and completed within each called child flow.
Reports are uploaded for each child flow.
The name of the child flow is displayed in the "Work" column, and images taken in each inspection flow are included.

◆ Flow②

Let's go back to creating the parent Flow. Now, we'll add "Task Start" and "Task Completed" to the parent Flow.
These two commands are located in the "Record" tab.
This Flow corresponds to Pattern 1 of Task Start/Task Complete mentioned above.

First, add the "Start Task" command.
You can add it anywhere as long as it's before the "Flow Call" command.
In this example, we'll add it between the "Start Map Patrol (From Station to Inspection Point ①)" command and the "Flow Call - Inspection Flow (A)" command.

Next, add the "Task Completed" command.
When the command is executed, uploading to ugo Portal will begin.
The command must be added.
after the "Start Task" command and after any recording commands such as "Save Task Image".
Also, when this command is executed, adjust the aircraft's patrol route so that it is in a location with good communication quality.

In this case, we want the upload to begin after returning to the charging station, so we'll add it after the "Automatic Charging Start" command.

◆ Review

Now that we have all the necessary elements covered in the previous sections, let's review the flow of the flow.

1. Leave the Station
2. Move to the Inspection Point
3. Start Task
4. Flow Call
4-1. Adjust Position
4-2. Adjust Telescopic Pole
4-3. Photograph
4-4. Adjust Telescopic Pole
4-5. Photograph
5. Move to Station
6. Automatic Charging
7. Task Complete

This concludes our explanation of the "Flow Call" command and Flow using the command.

It has complex elements and limitations, but if used well, it can make managing your Flow easier, so please give it a try.

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