*Please note that this function can only be used under the following conditions.
◎ugo Pro
・ugo Pro (G4) manufactured after March 2025
・ugo OS v4.1.0 or later
◎ugo mini
・ugo mini (G1) manufactured after December 2024
・ugo OS v4.1.0 or higher
If you wish to use this service but do not meet the conditions, please contact us.
Table of Contents
・About route-specified movement
・Commands used in Flow
・Behavior when avoiding obstacles
・Notes and restrictions on use
・FAQ and troubleshooting
◆ About route-specified movement
[Route Specified Movement] is a command to move the robot along a pre-defined route. With the
previous [Map Patrol Start] command, if there was an obstacle on the route, the robot would stop in place and could
not resume unless the obstacle was removed, and it was necessary to respond each time the robot was restarted.
On the other hand, when the [Route Specified Movement] command is used, the robot will automatically avoid obstacles even if they are detected,
return to the route, and continue moving.
Compared to conventional methods, this allows for more flexible response to the presence or absence of obstacles, which is expected to contribute to improved operational efficiency.
When driving with this function, ugo uses sensors such as LiDAR to evaluate surrounding obstacles within a range of 5m vertically and horizontally centered on the robot , and slows down and takes evasive action to maintain a distance of at least 50cm from obstacles (approximately 30cm for mini) .
◆ Commands used in Flow
To use routed movement in Flow , use the Routed Move command in the Move tab of the command picker .
When starting a patrol, please add the [Map Patrol Position Initialization] command as usual.
If you add the position initialization command and then set the [Route Specified Movement] command,
the robot will start moving with the automatic avoidance function enabled.
You can add this from the [Movement] tab of the command picker.
Use the same [Route Specified Movement] command for the second and subsequent tour routes .
Command parameters
| Floor Map | Select the floor where you want ugo to run. |
| Tour route | Select the route for ugo to run |
| BGM volume | Set the background music volume while driving |
| Turn signals and brake lights | Sets the behavior of turn signals and brake lights while driving. |
Turn signals and brake lights
| Use |
Turn on the turn signal. The turn signals will automatically return to their previous lighting state after turning off. Example: |
| Do not use | Regardless of whether or not you have a command (in Flow) to turn on the ring light, the turn signals will not work. Commands such as flashing lights and white lights can be set and executed in Flow as normal. |
How to set a route for [Route-specified movement]
With [Route Specified Movement], you can continue to use existing routes (conventional routes), but
you can also travel without setting many detailed waypoints as before.
When using the [Route Specified Movement] command, a straight line is drawn from the first waypoint to the last waypoint,
and the vehicle travels along that line. For this reason, there is no need to place detailed waypoints at regular intervals as before.
|
Conventional |
Settings for [Route-specified movement] |
When creating a route that assumes the use of the [Route Specified Movement]
command, set it up as if you were placing waypoints at corners and other places you want the robot to pass through.
With this function, the robot will travel along a line connecting each of the set waypoints, and will use that line as a guide to avoid obstacles and move
to the goal. Therefore, even if the waypoints are set with some space between them, the robot will be able to travel without any problems.
*This setting method is only for the behavior when using the [Route Specified Movement] command.
If you want to travel using the previous [Map Patrol Start] command, please create a route with waypoints set at regular intervals in detail as before.
The location of the goal waypoint of the route
Due to the design of the robot slowing down and taking evasive action to maintain a distance of at least 50cm (approximately 30cm for the mini) from obstacles,
if the goal waypoint is too close to a wall or obstacle, the robot will not be able to complete the route and will stop with an error.
When setting a route, please set the goal waypoint at least 50cm (approximately 30cm for the mini) away from walls or obstacles.
There will be no problem if you set it so that it does not enter the green area displayed on the [Cost Map].
About [Cost Map]
◆ Behavior when evading
When the obstacle can be avoided
If there is an obstacle on the route, the Robot will slow down and take evasive action to keep a distance of at least 50 cm (approximately 30 cm for the mini) from the obstacle,
taking into consideration the surrounding conditions (walls, people, etc.).
In addition, the Robot will try to avoid the obstacle within a range of no more than 2 m from the original route.
Please note that evasive action will temporarily deviate from the route, so if you are operating in a place where there is a risk around the route, be sure to set a [Keepout Zone]
in [Area Settings] before using the Robot.
| Maximum deviation from original path is 2m |
When traveling via a specified route, try not to get closer than 50cm. |
When an obstacle cannot be avoided
If the Robot is unable to avoid an obstacle on its path, it will stop and call out to you.
After calling out, the Robot will turn left and right to search for an alternative location.
If the Robot is still unable to avoid an obstacle, it will stop Flow as an error.
If it is unable to avoid an obstacle on the route, it will stop on the spot and call out to you by voice.
After calling out, the Robot will turn left and right to search for an alternative location,
but if it is still unable to avoid an obstacle, it will stop Flow as an error.
The operation flow is as follows:
|
Wait there → Try again to see if it's possible to move ↓ Call out to the driver → Try again to see if it's possible to move ↓ Wait there again → Try again to see if it's possible to move ↓ Turn a little → Try again to see if it's possible to move ↓ Turn a little again → Try again to see if it's possible to move ↓ If it can't avoid the obstacle, an error occurs (Flow stops) |
◆ Precautions and restrictions for use
Road width that can be traveled
Since the robot is designed to move while maintaining a distance of at least 50 cm (mini robots are approximately 30 cm) from obstacles,
it may not be able to run through passages less than 1 m wide.
In addition, the conventional collision prevention function can also be used at the same time, so please set the collision prevention range
appropriately according to your usage environment.
Existing Routes
Routes that have already been created can be used as is for [Route Specified Movement].
There is no need to create a new dedicated route.
Movement Speed
The maximum speed during [Route Specified Movement] is approximately 1.4km/h. The speed is automatically adjusted according to the surrounding environment, so
the speed setting of the waypoint set when creating the route is not referenced.
If you want to set an upper limit on the movement speed, please use the [Area Settings] function.
About [Zone Settings]
Recalculating the route
When avoiding obstacles, the robot will try to avoid them within 2m of the original route.
Therefore, if the entire 2m range to the left and right of the center of the route is blocked,
the robot will not be able to move.
Please note that the robot cannot avoid obstacles that completely block the route.
Stopping behavior
If you want to stop a route-specified movement while it is running in Flow, use the Stop button in the top right of the
operation screen or the space bar. Please note that you cannot stop it with the Pause button.
*The Pause button can be used to stop the operation after the route has been completed (stopping the Flow after that).
Map position correction
When driving with [Route Specified Movement], be sure to operate with [Map Position Correction] turned on.
Continuing to drive with position correction turned off is dangerous, so if correction is turned off, an error will occur and driving will stop.
Frequently asked questions and troubleshooting
For frequently asked questions and troubleshooting, please see the following page: