Table of Contents
・What you can do with the "Change safety margin" command
・Setting the "Change Safety Margin" command
・Specific use cases and benefits
・Example of using the "Change Safety Margin" command in Flow
◆ 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, you 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.
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◆ What you can do with the "Change Safety Margin" command
This command is used to adjust the "safety margin" value, which determines how far away ugo will stop from an obstacle.
In particular, narrowing the safety margin value from the default 0.5m allows ugo to get closer to the target or navigate through narrow passages smoothly without unnecessarily activating the collision prevention function prematurely.
In places with heavy foot traffic, you can also widen the safety margin to ensure greater safety.
*The "Change Safety Margin" command can be used with Collision Prevention v2.
If you execute the "Change Safety Margin" command while Collision Prevention v1 is enabled, an error will occur and the program will stop.
*For more information on Collision Prevention Function v2, please click here .
◆ Setting the "Change Safety Margin" command
- Add the "Change Safety Margin" command to the "Move" tab of the command picker. After adding it, set the safety margin value in the [Distance] setting under [Parameters]. ・Setting range: 0.05 to 2.0 [m] ・Adjustment step: 0.05 [m]
◆ Specific use cases and benefits
Use Case 1: When patrolling a map through a narrow passage
Situation: When the default safety margin causes the collision prevention function to activate early on walls and obstacles, resulting in frequent stops. Use: Narrow the safety margin to allow smooth passage. Benefits: Reduces unnecessary stops, contributes to maintaining a stable and smooth patrol route, and improves patrol efficiency.
Use case 2: Meter reading (approaching the meter at the appropriate distance and angle)
Situation: The default safety margin prevents collision prevention and prevents you from getting close to the recommended distance between your ugo mini and the meter. Utilize: Narrow your safety margin and get closer to the optimum distance. Benefit: Increased stability of meter readings.
Use Case 3: Pressing an elevator button
Situation: When the default safety margin does not allow you to properly approach the elevator buttons. Use: Narrow the safety margin and get closer to the recommended distance for pressing the button (45-50cm from the body unit to the button). Advantages: The ugo Pro arm allows for smooth button pressing.
Use Case 4: Elevator boarding and disembarking
Situation: The elevator has a narrow entrance and exit, and the default safety margin causes it to stall when entering or exiting. Use: Narrow the safety margin to make the ride smoother. Advantages: Maintains a minimum required safety margin between doors and walls, allowing for smooth boarding and disembarking.
[Additional Information] Regarding use in conjunction with the "Standing Position Adjustment" command
When the robot approaches a specific target or a narrow passage with precision, as in use cases 1 to 4 above, a more accurate stopping position can be achieved by using the "Adjust Position" command in conjunction with the "Change Safety Margin" command.
We recommend narrowing the safety margin to bring the robot closer to the appropriate distance, and then using the Adjust Position command to make more precise adjustments.
For details on the "Standing Position Adjustment" command, please see below.
・Standing Position Adjustment ・Partial Map
◆ Example of using the "Change Safety Margin" command in Flow
Here's a concrete example of how you can use the "Change Safety Margin" command in Flow.
Example 1: Map patrol (combination of narrow and wide passages)
By dynamically adjusting the safety margin to match the width of the aisle, the vehicle can move safely and with ease in wide spaces, and smoothly in narrow spaces without prematurely activating the collision prevention function.
Driving in a wide aisle: Driving with the default safety margin (0.5m) Entering a narrow path: Use the "Change Safety Margin" command to narrow the safety margin (e.g., set it to 0.3m) Re-entering a wider corridor: 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