This feature is available on ugo Pro (G4), ugo mini (G1), and ugo Ex (G1) running ugo OS v4.2.0 or later.
◆Table of Contents
・What is the Schedule function (Flow Override)
・What is the Start Position Check function?
・Creating a new Schedule (Flow Override)
・Editing and deleting Schedules
・Start Position Check example (OK/NG cases)
・Troubleshooting when the Flow is not Overriden
◆What is the Schedule function (Flow Override)
This feature allows you to override a running Flow and start another Flow. With the previous Schedule feature, it was not possible to automatically suspend a running Flow and run a scheduled Flow .
By using this function, you can interrupt the currently running Flow and prioritize the execution of a new Flow that you have set up in advance.
Please note that this function does not allow multiple Flows to be executed in parallel at the same time.
For example, you can have a ugo Pro running a Flow that detects people and greets them while connected to a charging station, and then switch to a Flow that starts patrolling at a specific time.
This function is used in combination with the "Start Position Check Function" described below.
◆What is the Start Position Check function?
The start position guarantee function checks whether ugo is in the correct start position when overriding with a scheduled flow. The start position is confirmed based on the color and brightness information contained in the camera image.
To prevent safety risks caused by starting a flow at the wrong location, this function must be used when overriding a flow.
By registering images of the "Correct Start Position" taken from three camera angles in advance, ugo compares those images with the current camera images and starts the Flow only if it determines that the starting position matches.
Camera Images Used
Pro：Front, Rear, and Chin cameras
mini：Left, right, and front angles
◆Creating a new Schedule (Flow Override)
STEP1 Take a picture of the Flow start position (From the Operation Screen)
First, take an image of the correct starting position at the location where you want to start Flow.
If you cannot use the operation screen at the time you want to override the Flow, please refer to " STEP 1: Take an picture of the Flow start position (from Flow) ".
Additionally, the Flow start position image must be taken with the body unit (Pro) and telescopic pole (mini) at their default heights (Pro: 650mm, mini: 600mm).
If the heights are different, adjust them using the lifter icon on the operation screen.
① Place ugo where you want to override the Flow using the schedule function. When positioning ugo, please keep the following points in mind.
[About the location] - Dock ugo in the charging station If you are operating in a location that is not a charging station, create a partial map of the location. Before overriding the Flow, execute the "Adjust Position" command in the Flow that is running. [About camera height] ・ugo Pro: Set the lifter unit height to the default 650mm. ・ugo mini: Set the telescopic pole height to the default 600mm.
②On the operation screen, click Action Menu > Settings.
③Settings > Start Position Shooting and enter an arbitrary [Start Position Name]. We recommend that you enter a specific name for the start location so that it is easy to identify when registering the schedule.
④ After entering the [Starting position name] , click [Capture] to take images of the starting position in three directions. This completes the capture of the starting position image.
*If there is an abnormality in the camera, the image may not be captured properly.
If the image is not captured properly, please contact us.
STEP1 Take a picture of the Flow start position (from Flow)
If you want to take a photo early in the morning or late at night, when it is difficult to capture the Flow start position image from the operation screen, please use the normal schedule function to set up a Flow that only has the [Save start position image] command and take the photo.
Capture a Start Position Image using Flow (please expand to see)
① Create a Flow for capturing a start position image that includes only the [Save Start Position Image] command.
The [Save Start Position Image] command is located in the [Settings] tab of the command picker.
Enter any name for the [Start Position Name] parameter.
We recommend entering a specific name for the start position so that it is easy to identify when registering the schedule.
② Schedule the Flow you created to take photos at the start position of the image so that it runs during the time you want to take the photos.
For details on the schedule function, please see here.
③When the set time arrives, the scheduled Flow will start taking images of the Flow start position.
After that, proceed to STEP 2.
STEP2 Schedule Registration
①Click Global Menu > Schedule.
②Click the [Create New] button in the upper right corner of the [Schedule] editing screen , which is in the format of a calendar.
③ The [Schedule Registration] dialog will appear, so set each item.
| Item | Description | |
| ① | Title | Enter a title. When you run a Flow that uses the report function, this title will be displayed as the [Caller]. |
| ② | Repeat Settings | Choose from "Not repeating", "Daily", "Weekly", or "Monthly". If you select "Weekly", you can set the days of the week using the check boxes. (Multiple days of the week can be set.) |
| ③ | Execution date and time | Select the execution date and time. If you set a repeating schedule, the repeating schedule will be registered after the selected date and time. |
| ④ | Select Flow | Select the Flow you want to run from the dropdown menu. |
| ⑤ | Select a robot | Select the ugo that will run the Flow using the schedule function from the dropdown menu. |
| ⑥ |
Prioritize Scheduled Flow |
Checking the checkbox will enable [Flow Override], which will interrupt the currently running Flow and override with the scheduled Flow. |
| ⑦ | Starting position image setting | Click the [Set Start Position Image] button to display the [Resource Management] dialog. Select the image of the Flow start position taken in STEP 1. For details on the [Resource Management] dialog, please see here. |
| ⑧ | Explanation | You can enter notes about the schedule. |
Start Position Image: Resource management
- Click on the image to select the start position image.
The start position image will be displayed with the start position name and shooting date and time set in STEP 1. Click the enlarge button (arrow icon) to enlarge the image taken in STEP 1. Clicking the delete button (trash can icon) will remove the image from your resource management.
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④ Click [Save] to add the schedule to the date and time you set.
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⑤When the scheduled date and time arrives and the target ugo is online, the correct start position image taken by the ugo in advance will be compared to the current camera images of the environment.
- If ugo is in the correct starting position, it will interrupt the running flow and run the scheduled flow over it.
- If the location is different, the scheduled flow will not be overridden and an error message will be displayed.
Error message: "Flow Override Failed" If a flow is running before the scheduled date and time, the flow will continue to run.
- See here for details .
- The Flow start position image is taken at each time you want to overwrite the Flow using the schedule function. If you want to run Flow overwrite at multiple times in a day, you will need to take photos for those times (morning, afternoon, evening, night, etc.).
For details, please refer to the restrictions . Example: If you want to overwrite a Flow that starts patrolling at 3:00 PM → Take a picture of the Flow start position at 3pm
◆Editing and deleting Schedules
Click on the schedule you want to edit or delete from the calendar view.
Edit: You can change the date, time, flow, and robot. Repeat settings cannot be edited. If you want to set a repeat or change the day of the week,
delete the schedule and register it again.
Delete: If the schedule is set to repeat, you can select which schedule to delete. - This schedule only This will only delete the schedule for the selected day. Other schedules registered with repeat settings will not be deleted. * Deleted schedules cannot be restored. - All repeating schedules This will delete all other schedules registered with repeat settings.
◆Example Operation
When ugo Pro is connected to a charging station or is running a Flow that detects people and greets them at a fixed location, it can be set to start a Flow that starts patrolling at a specific time.
Please see below for an example of creating a Flow that greets people when ugo detects them. (This may vary depending on the model and manufacturing date)
・[ugo Pro] How to create a Flow that greets people (manufactured before February 2025)
・[ugo Pro (manufactured after March 2025)] How to create a Flow that greets people
・[ugo mini G1] How to create a Flow that greets people
◆Restrictions
Communication status:
- To run a Flow from the schedule function, the robot must be online at the set time. Even if the robot is online, the feature may not work if the communication requirements are not met.
Camera height:
- When overwriting Flow, the height of the ugo Pro body unit and the ugo mini telescopic pole will be set to the default height. The height must be the same.
Please make sure that the heights of the body unit (Pro) and telescopic pole (mini) in the Flow you are running before overriding the Flow,
are as follows:
・ugo Pro: 650mm
・ugo mini: 600mm
- If the heights of the body unit (Pro) or telescopic pole (mini) are different, the Flow override will not be performed and
an error message will be displayed.
・Error message if the body unit height is different: "Lifter Height Error"
・Error message if the telescopic pole height is different: "Telescope Height error"
Robot Position：
- In the start position check function, ugo compares the start position image and the surroundings visible from the cameras, based on color and brightness information, to check whether the robot is in the current location If the robot is placed in a different location, the scheduled flow will not be overridden and an error message will be displayed. Error Message: "Flow Override Failed" If there flow was a running before the scheduled date and time, that flow will continue to run.
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If the robot is positioned correctly |
If the robot is in a different position
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Robot Orientation：
- Even if the location of the aircraft is the same, if the orientation of the aircraft is different from when the Flow start position image was taken, the current position will be determined to be different. The scheduled flow will not be overridden and an error message will be displayed. Error Message: "Flow Override Failed" If there was a flow running before the scheduled date and time, that flow will continue to run. - Use the scheduled Flow override when connected to the charging station to ensure the robot is facing the same direction. Alternatively, you can incorporate the "Adjust Position" command into a Flow that runs before the scheduled date and time.
Cross Robot Operation：
- When using the schedule function (Flow override execution) in a site where there are multiple ugo robots in operation, Please select the image taken with ugo that will override the Flow in [Start position image setting]. The image captured by the camera may differ with each individual camera, so even if another robot is in the correct starting position, Flow override may fail.
Time and Weather changes：
- In the start position check function, ugo determines whether the current position matches the start position image using the current images captured by the cameras, based on color and brightness information.
Therefore, in an environment where the lighting conditions and the brightness of external light change depending on the time of day and weather, even if ugo is placed in the correct position, the start position may be determined to be different from the correct one you set in advance and the Flow may not be executed. In that case, take an image of the correct start position for each time period and weather in STEP 1 , and then register the schedule according to that time period. Please set the start position image according.
(Example) "Inside the conference room_greeting position (lights on)" "Inside the conference room_greeting position (lights off)" - In the example below, the position is determined to be different when the lights in the conference room are off, so a new start position image is recorded when the lights are off.
When the scheduled flow override does not work：
- If the start position guarantee function judges it as NG, the flow that was running before will not be stopped and will continue uninterrupted Cases where it is judged as NG: ・When the communication environment at the time of schedule execution is poor and the command to execute the flow does not reach ugo. ・When the height of the robot's camera (Pro: body unit height 650mm, mini: telescopic pole height 600mm) is different ・When it is judged that the robot's location is different ・When it is judged that the robot's orientation is different ・When it is judged that the surrounding conditions (brightness, etc.) from the start position image and the current camera images are different
◆Start Position Check example (OK/NG cases)
Give below are examples of pass/fail results when using the Start Position check function to determine whether ugo is placed in the correct Flow start position, based on actual camera footage from a ugo Pro in our office.
Please use this as a reference for changes in brightness and environment that result in a pass/fail result.
Brightness and environment of the image at the start of the Flow set in the schedule registration (reference)
OK：Brightness is the same, the front ugo mini disappears
OK：Brightness is the same, the door is closed, the UGO Mini in front disappears, a person is standing
OK：Brightness is the same, the door is closed, the UGO Mini in front disappears, a person is standing
NG：Turning off the lights
NG：Lighting turned down by one level
NG：The angle of the ugo Pro is significantly different from the reference (when the "Adjust position" command fails)
■Comparison of the accuracy of the "Position Adjustment" command and the start position guarantee function OK/NG
◆Troubleshooting when the Flow is not Overridden
[Symptom]
I set up a scheduled flow override, but it did not run.
【Possible causes】
Cause１
- The body unit (Pro) or telescopic pole (mini) is not at the default height (Pro: 650mm, mini: 600mm). Error codes displayed on the operation screen: Pro: "Lifter Height Error" Mini: "Telescope Height error"
Cause２
-If the brightness is different from when the Flow start position image was taken, the error code displayed on the operation screen is: "Flow Override Failed"
Cause３
- If the robot's orientation or angle is different from when the Flow start position image was taken, the error code displayed on the operation screen is: "Flow Override Failed."
【Solution】
・Set the height of the body unit (Pro) and telescopic pole (mini) to the default (Cause 1)
- Before overriding the Flow, please set the Flow so that the height of the body unit (Pro) and telescopic pole (mini) are as follows: ugo Pro: 650mm ugo mini: 600mm
・Take a new image of the Flow start position in a brightness similar to the actual operating environment and reset it on the schedule screen (Cause 2)
- In environments where the brightness of external light changes depending on the lights being turned on/off, time of day, weather, or season,
even if ugo is placed in the correct start position, it may be determined to be different from the correct start position set in advance, and
the Flow may not be executed. In this case, take an image of the correct start position for each light being turned on/off, time of day, weather, or season in STEP 1, and
then set the start position image that matches those conditions when registering the schedule.
(Example) "Entrance_greeting position (9am)" "Entrance_greeting position (6pm)"
・ Execute the "Adjust Position" command in the Flow that is running before overriding the Flow / Set the charging station as the reference (Cause 3)
- Create a partial map position ugo be, and execute the "Adjust Position" command in the Flow running before overriding the Flow.
Then, perform " STEP 1: Take a Flow Start Position Image " again at the location, and set the Flow start position image in the schedule. This will reduce the chance of ugo facing the wrong direction when overriding the Flow. - If there are no feature points nearby and it is difficult to create a partial map or execute the "Adjust Position" command, consider installing a charging station and setting the Flow override execution based on the state when ugo is connected to the charging station.