◆Table of Contents
・What is "standing position adjustment"?
・The key to ugo's location identification: the concept of "feature points"
・Trial procedure for adjusting standing position
・Incorporate the "Standing Position Adjustment" command into Flow and WorkPlan
・Example of using the "Adjust Position" command in Flow
・Change the name of a partial map that has already been created
・Delete a partial map that has already been created
◆ What is "position adjustment"?
The "position adjustment" command is used when you want ugo to stop precisely at a specific location while moving around the facility . Using this command, ugo can stop at the desired location with the correct orientation and angle.
The "Adjust standing position" command is particularly useful when performing repetitive tasks in a fixed location (e.g., reading meters, operating elevator buttons, taking photos at a fixed point, etc.) where even the slightest deviation from ugo's stopping position is unacceptable.
This positioning adjustment is achieved by using a special map called a "partial map," which we will explain next. The partial map records the detailed shapes (feature points) of walls and obstacles so that ugo can accurately determine its position in the surrounding environment .
By using the "Adjust Position" command, you can do things like the following:
① Meter reading
To get an accurate meter reading: This ensures that ugo mini always captures images of the meter from the same position. This will allow the meter reading AI to read the meter readings more accurately. *Meter reading can only be done with ugo mini.
② Shooting images at a fixed position
To take photos from the same angle every time: This is useful when you want to take photos of an object from exactly the same angle every time,
such as when you regularly photograph a particular location.
③ Using the elevator
For smooth elevator use: When pressing elevator buttons or getting on or off, ugo will move to the correct position,
such as the appropriate distance from the button or in front of the door. *Only ugo Pro can use the elevator
④ Passing through narrow passages
To navigate narrow passages smoothly: When ugo passes through a narrow passage, its collision prevention function pre-adjusts it
to the correct position and orientation to prevent it from stopping. This allows for stable patrols.
◆ What is a "partial map"?
A "partial map" is a detailed map of a specific location that is used to stop the vehicle precisely. It
records the detailed shapes of walls, obstacles, and other objects within a very small area of a specific location (e.g., in front of a meter or elevator).
Partial maps are an essential tool for ugo when it comes to "positioning."
ugo uses its LiDAR sensor to recognize surrounding walls and obstacles.
When you use the "adjust position" command, ugo compares the current surroundings captured by the LiDAR sensor with a pre-recorded "partial map" to accurately determine how far it is from the desired location and how much its angle is different.
Then, by correcting this misalignment with the "Adjust Position" command, you can stop the robot at the exact orientation and angle you want.
◆ The key to ugo's location identification: the concept of "feature points"
For ugo to know its location accurately, it is important that there are landmarks around it that can be called " feature points." This is similar to how people use prominent buildings and road shapes to estimate their current location so they don't get lost in a new place.
Example: Reading a meter in a long hallway
Let's say you want to have ugo mini adjust its position in front of a digital meter mounted on a wall that resembles a long, straight hallway, as shown in the photo.
The LiDAR information detected by ugo mini is as follows.
If the partial map only contained data on straight walls , ugo would have no way of knowing where it was in the hallway. It would be like looking at a blank white wall. In this state, whether ugo moved left or right, the wall would look the same, making it difficult to pinpoint its exact location.
However, if a distinctive landmark (a "feature point") is added to a specific location, ugo will be able to accurately determine its position. In this example, we expanded the recording range (capture range) of the partial map so that the "vertical feature point" of the vertical wall would be included in the partial map .
In this way, by creating a partial map that includes many landmarks around it , ugo can adjust its position and stop in the correct location without getting lost.
◆ Creating partial map data
This section explains how to create the "partial map data" necessary for ugo to "adjust its position."
A partial map is a special map that allows ugo to recognize its surroundings in detail.
Creating an accurate partial map will help ugo adjust its position stably.
*ugo must be online when creating or checking partial maps.
How to open the partial map screen
① Select the "Partial Map" tab in the top right corner of the map editor screen.
② The partial map screen will be displayed.
Explanation of the partial map screen
| name | explanation | |
| ① | Building/Floor Information | The building floor information for the organization for which you are creating the partial map is displayed. |
| ② | Capture Range | The area recorded by the LiDAR when creating a partial map is displayed as a yellow rectangle. |
| ③ | LiDAR information | The shape of the surrounding walls and obstacles captured by ugo's LiDAR sensor is displayed. |
| ④ | Online Status | If ugo is online, you will see a green icon. If it is yellow, red or black, please check your ugo's network connection status. |
| Robot Name | The name of ugo's aircraft will be displayed. | |
| ⑤ | Start moving | Start a trial run of "Standing Position Adjustment" using the created partial map. Select the created partial map data using the "Partial Map Data Selection Button" and then execute. Please see below for details. - Procedure for trialing standing position adjustment |
| ⑥ | New button | This will move you to partial map creation mode. For details, see below. - Creating partial map data |
| ⑦ | Partial map data selection button | When you select a partial map data that you have created from the pull-down menu, the partial map data will be displayed below. You can also change the name and delete the partial map data. For details, see below. - Change the name of a partial map that you have created - Delete a partial map that you have created |
Explanation of the partial map creation mode screen
| name | explanation | |
| ① | Capture Range (cm) | When creating a partial map, you can adjust the area that the LiDAR records. As explained in the "feature points" section, set it to include as many "feature points" as possible. |
| ② | Name | Set the name of the partial map. It is recommended to use a name that will allow you to easily distinguish which partial map it is in later. |
| ③ | Save partial map | Save the created partial map data. |
Important points before creating a partial map
To ensure accurate partial mapping, please note the following:
1. Organize your surroundings
If there are any unusual objects or temporary obstacles (e.g., stepladders, cleaning tools, cardboard boxes, etc.) around the area where you are creating the partial map, be sure to remove them beforehand.
If temporary objects are recorded in the partial map and are not there when you actually perform the work, ugo will determine that the object is "different from the map" and will not be able to adjust your position properly.
2. Be careful not to appear in the LiDAR sensor's view
While creating a partial map, please be careful not to capture the feet or bodies of the operator or anyone around you in ugo's LiDAR sensor. The LiDAR sensor recognizes surrounding objects.
If a human figure is captured in the image, it may be incorrectly recorded as a "feature point," which may prevent ugo from correctly adjusting its position in that location later.
When operating near ugo, try to stand behind the robot (in its "blind spot," where the LiDAR sensor cannot see directly).
*1: For information on the LiDAR sensor, please refer to the product specifications.
・[ugo Pro/Ex] Part names / specifications / interface
・[ugo mini (G1)] Part names / specifications / interface
Steps for creating a partial map
① First, move and place the ugo device in the "exact position" where you want to record the partial map data.
② Click the New button in the upper right corner of the Partial Map screen. This will switch to the partial map data creation screen.
Please refer here for how to open the partial map screen.
③ On the partial map data creation screen, set the following items. Partial Map Data Name: Give it an easy-to-understand name (e.g., "3rd floor_A aisle_in front of the meter" or "In front of the elevator_2nd floor"). It is useful to give the map a name that will allow you to immediately identify which partial map it is for later reference. Capture Range: Set an appropriate range so that ugo can fully capture the surrounding "feature points."
As explained in the "Concept of Feature Points" section, the surrounding landmarks such as wall corners, doors, pillars, etc. are included in the range.
⑤ Once the settings are complete, click the "Save Partial Map" button at the bottom of the screen (or bottom right).
⑥ Once the Partial Map is saved, a completion message will be displayed.
⑦ Once the partial map has been created successfully, the partial map data you just created will be
displayed in the partial map list. If necessary, try moving ugo to that location and adjusting its position to see if it stops in the
correct position as expected. For details, see the procedure for trying out position adjustment
below.
◆ Trial procedure for adjusting standing position
① From the list of partial map data displayed on the partial map screen, select the map you created this time or the map you want to try adjusting the standing position. Select the partial map data from the drop-down list.
② Next, place ugo a little distance (about 20-50cm) from the location where you want to adjust its position.
Imagine that ugo has moved to the location where you want to adjust its position using the "Start Map Patrol" command,
"Move to specified route" command, or "Move to specified destination" command.
- At this time, be careful not to change the orientation (angle) of ugo significantly from when you recorded the partial map. For the LiDAR sensor to accurately perceive its surroundings, it is important that it is facing in the same direction as it was when recording. - ugo determines its location by comparing its current surroundings with a partial map. If you are facing a completely different direction than when you were recording, it may be difficult to make a comparison and you may not be able to adjust your standing position.
③ Once you have finished selecting the partial map data and placing ugo, click the "Start moving" button at the bottom left of the screen.
④ Click [Start moving] and ugo will start moving automatically, adjusting as it moves towards the recorded position.
⑤ After ugo has finished moving, click [Stop moving].
- You may not reach the correct position after adjusting your standing position once, so please perform another test run. Adjusting your standing position a total of two times may improve the accuracy of ugo's final stopping position. When incorporating the "Adjust standing position" command into a Flow, we also recommend setting the [Number of repetitions] to 2.
Points to check after adjustment is complete
Make sure that ugo stops exactly where you intended it to .
If it's a meter reading, make sure the meter is centered on the operation screen , and if it's getting on or off an elevator , make sure the button is displayed directly in front of you in the image from the chest sensor
. If you feel that the position is off, review the environment where the partial map was created, or adjust the partial map's "capture range," then create and try again.
What if it doesn't work?
If you experience problems such as "I can't adjust my position" or "It doesn't stop where I want it to," please check the following points.
- Have you observed the precautions when creating the partial map
(organizing the surrounding area, not including people's shadows, etc.)?
- Are there enough " feature points " included in the partial map?
- Is ugo positioned at an appropriate distance and orientation during the trial?
- Is the collision prevention function working?
→ If "Collision Prevention STOP" is displayed on the operation screen, please review the safety margin distance setting.
If that doesn't work, check the troubleshooting section
◆ Incorporate the "Standing Position Adjustment" command into Flow/WorkPlan
Tasks such as ugo patrols and inspections are performed using "Flow" and "WorkPlan."
Here, we will explain how to incorporate "position adjustment" using the partial map data you created into these workflows.
By incorporating the "position adjustment" command, ugo can be stopped accurately at the desired location and tasks can be performed automatically.
Commands to use
■Command name: Adjust standing position
Add it from the [ELV] tab in the command picker.
|
|
| Parameters | explanation | Recommended Settings |
| Partial Map | Select the partial map to use for position adjustment. | – |
| Retry Count | If position adjustment fails for some reason, you can set the number of automatic retries. |
Recommended value: 1-2 times We recommend setting it to "1 time" or "2 times" in most cases. This makes it easier for ugo to continue the flow even if it fails due to a temporary problem. |
| Number of iterations | You can set the number of times the position adjustment process is repeated. Increase this number if you want to achieve higher accuracy in situations where position adjustment accuracy is important (e.g., precise meter readings or button operations). |
Recommended value: 2. Increasing the number of iterations will cause ugo to try to adjust its position multiple times, which may improve the accuracy of the final stopping position, but it will take longer to adjust. |
Various setting methods
The specific steps for incorporating the "Adjust Position" command into a Flow or WorkPlan differ depending on the editing screen for each feature. For detailed instructions, please see below.
How to integrate it into Flow: Flow Settings
How to integrate with WorkPlan: WorkPlan Settings
◆ Example of using the "Adjust standing position" command in Flow
Here's a concrete example of how you can use the "Adjust Position" command in Flow.
Example 1: Driving smoothly through narrow passages
When ugo passes through a narrow passage, its position and direction are adjusted to the center of the passage in advance to prevent it from being stopped by the collision prevention function.
At the same time, the "change safety margin" command is used to temporarily narrow the safety margin.
This allows ugo to continue patrolling stably.
For details on the "change safety margin" command, please see below.
・How to use the "Change Safety Margin" command
Driving in a wide aisle: Driving with the default safety margin (0.5m)
Before entering a narrow path: Use the "Change Safety Margin" command to narrow the safety margin (e.g., set it to 0.3m).
Use the "Adjust standing position" command to adjust ugo's position and direction to the center of the aisle.
After driving through a narrow passage: Increase the safety margin with the "Change Safety Margin" command (e.g., reset to 0.5m)
Example 2: Meter Reading
After narrowing the safety margin, you can use the "Adjust Position" command to fine-tune the exact distance and angle from the meter, improving the stability of meter readings.
Move to a location with a meter → Use the "Change Safety Margin" command to narrow the safety margin (e.g. set it to 0.3m) → Execute the "Adjust standing position" command (approach the recommended distance and position for meter reading) → Perform meter reading
◆ Change the name of a partial map that has already been created
① From the list of partial map data displayed on the partial map screen, select the partial map data you want to change the name of. Select from the drop-down list.
② Click [Change Name] to display the [Change Name] dialog. Enter the name you want to change to.
④ After entering the name, click [Change] to complete the name change for the partial map data.
◆ Delete a partial map that has already been created
① From the list of partial map data displayed on the partial map screen, select the partial map data you want to delete from the pull-down list.
② Click [Delete] and a confirmation dialog will appear. If you want to delete it, click [OK].
*Once deleted, partial map data cannot be restored.
◆ Notes
[Important] Safety margin distance setting:
- ugo has a "safety margin" set to prevent collisions with obstacles.
When the distance to an obstacle falls below a certain level, it will slow down and stop at a distance equal to this safety margin.
- If this safety margin is set too wide, it may detect surrounding walls and obstacles as "obstacles" while adjusting its position, It may shut off automatically for safety reasons. Setting an appropriate safety margin distance is important for smooth position adjustment. Consider whether you need to adjust the range, especially if you are standing in a tight space.
ugo's direction (angle) when adjusting position:
- When adjusting the standing position, be careful not to change ugo's direction (angle) too much from when the partial map was recorded. For the LiDAR sensor to accurately perceive its surroundings, it is important that it is facing in the same direction as it was when recording. - ugo determines its location by comparing its current surroundings with a partial map. If you are facing a completely different direction than when you were recording, it may be difficult to make a comparison and you may not be able to adjust your standing position.
Accuracy of position adjustment:
- Positioning may be subject to error due to the characteristics of the LiDAR sensor and the surrounding environment. Increasing the number of iterations does not completely eliminate the error.
Ensuring safety around you:
- When adjusting its position, ugo moves autonomously from its current position to the target position.
Depending on the position of ugo at the time of execution, it may move in a direction outside the range
where the collision prevention function works, such as to the rear or side of the robot.
- When using a Flow or WorkPlan that includes position adjustment commands, be sure to ensure a safe space is maintained around ugo.
- Be especially careful when making adjustments in places where there are obstacles such as walls close to the rear or sides.
Troubleshooting
If an error occurs when executing the "Adjust standing position" command, please check the following page.
・The "Adjust standing position" command stops with an error.