This page provides detailed information about the collision prevention function v2 built into ugo.
Table of Contents
・What is the collision prevention function?
・Image of obstacle detection range and deceleration/stopping position
・About Collision Prevention Function v2
・Check the version of the collision prevention function
・The role of the "change safety margin" command in collision avoidance function v2
◆ What is the collision prevention function?
ugo has a collision prevention feature that allows ugo to travel safely without hitting walls or objects.
The collision prevention feature uses information from ugo's built-in LiDAR sensor (ugo Pro models manufactured after March 2025 also use chest and front cart sensors) to constantly detect obstacles around it.
If an obstacle appears in ugo's path, the feature will automatically slow down or stop the robot to avoid a collision.
When the collision prevention function is activated, a message will be displayed in the upper left corner of the operation screen.
Display message: "Obstacle detected: stop"
When the distance to an obstacle in the direction of travel becomes less than a certain value, ugo will decelerate to stop at a position that is a safety margin away from the obstacle .
Also, if the obstacle is too close to stop at a position that is a safety margin away, ugo will decelerate at the maximum deceleration rate, aiming for a speed of 0 .
The obstacle detection range is automatically adjusted so that ugo can slow down and stop sufficiently when it encounters an obstacle in its path .
This allows for quick response to unexpected people or objects appearing in front of the camera, ensuring safety during patrols.
◆ What is a "safety margin"?
The "safety margin" is the "minimum safe distance" that must be maintained between the stopping position and an obstacle so that ugo does not collide with the obstacle.
Take cars for example...
- When parking your car, always park as close as possible to avoid hitting other cars or walls, but always leave a certain amount of space between you and the car. This "minimum space that must be left" is what we call the safety margin at ugo. This distance can be changed by the user within the range of 0.05m to 2.0m using the "Change Safety Margin" command described below.
When the distance to the obstacle falls below a certain level, ugo will slow down and stop at a distance equal to this safety margin .
If the obstacle is too close to ensure the safety margin, ugo will slow down at the maximum deceleration.
The distance ugo travels to a stop is determined by the sum of the following factors:
- Free-running distance: The distance the robot travels after detecting an obstacle before it starts to slow down. - Deceleration distance: The distance at which the robot's running speed is limited depending on the distance to the obstacle. - Braking Distance: The distance the robot travels from the time it starts to decelerate at its maximum deceleration rate until it comes to a complete stop. - Safety margin: The distance from an obstacle to the robot's final stopping position. The default is 0.5m, but the user can change it within the range of 0.05m to 2.0m using the "Change Safety Margin" command.
◆ Example of obstacle detection range and deceleration/stop position
Obstacle detection range (forward movement)
Obstacle detection range (when moving left and right)
Obstacle detection range (diagonal movement)
Obstacle detection range (when rotating)
Deceleration/stop position
Deceleration Pattern
◆ About Collision Prevention Function v2
Collision Prevention v2 further enhances ugo safety and enables more flexible and efficient operation in a wider range of environments.
*ugo mini is set to use only Collision Prevention v2.
*ugo Pro and ugo Ex are set to Collision Prevention v2 by default.
Main differences and improvements between Collision Prevention v1 and v2
| item | Anti-collision function v1 | Anti-collision function v2 | Improvements and Benefits of v2 |
| Detection range setting | One of eight detection ranges is automatically selected for each direction of travel, so obstacles may not be detected depending on the combination of direction of travel and detection range. | The optimal detection range is automatically generated based on ugo's direction of movement. | Reduced risk of missed detection: Optimal detection according to the direction of travel and the environment allows for more reliable detection and stopping of obstacles. |
| Adjusting the stop position | There were multiple commands to set the distance to maintain between the robot and an obstacle, the distance at which the robot should begin to slow down, and other such settings, which made the commands complex and difficult to understand. | A new "Safety Margin Change Command" has been added. For details, please see here. |
Simplified settings: Distance from obstacle to ugo's stopping position The stopping distance settings have been integrated into the "Change safety margin" command, allowing users to adjust them intuitively. |
| Impact on existing Flows | - | The previous "anti-collision" command is still available, and existing flows can be used as is. | Ease of implementation: Utilize the "safety margin change" command with minimal changes to existing systems. |
Obstacle detection range for Collision Prevention function v1/v2
◆ Check the version of the collision prevention function
You can check the current version of the anti-collision feature (v1 or v2) on the operation screen.
If you are using ugo Pro/Ex, please make sure that the collision prevention feature is set to v2.
*For ugo mini, only v2 of the collision prevention feature is applied, so you do not need to follow this procedure.
Verify that you have Collision Prevention v2:
Please make sure that the safety margin around ugo displayed in the LiDAR information on the operation screen is a yellow rectangle as shown in the image below.
In Collision Prevention v2, the current safety margin setting is displayed in centimeters (default, 50 cm at startup).
Please note that clicking the cm display will switch to Collision Prevention v1.
If you have switched to Collision Prevention v1, be sure to switch back to v2 using the following procedure .
Switch from Collision Prevention v1 to v2:
When the Collision Prevention feature is set to v1, the safety margin around ugo displayed in the LiDAR information on the operation screen is displayed as a yellow rectangle extending forward and to the left and right, as shown below.
When the Collision Prevention feature is set to v1, "v1" is displayed above the cart icon.
If you accidentally switch to v1, click the "v1" display and be sure to change to Collision Prevention feature v2.
◆ The role of the "change safety margin" command in the collision prevention function v2
A new command available in Collision Prevention v2 is the "Change Safety Margin" command, which allows users to adjust the safety margin distance.
This command allows you to increase or decrease the safety margin (0.05m to 2.0m in 0.05m increments) that ugo will keep from an obstacle before stopping.
This means that ugo will be able to get closer to targets, navigate narrow passages more smoothly, and increase safety margins in busy areas without unnecessarily activating its collision prevention function early, ensuring greater safety.
For detailed settings and specific examples of use, please refer to the manual for the "Change Safety Margin" command.