You can add a map by opening the "Map Editor" from the ugo operation screen while the robot is online. (You must register the floor in advance.)
The top of the ugo operation screen shows the building and floor that ugo is currently loading.
Clicking here will display the "Current Floor Settings". Select the floor you want to register the map for and then press the "Open Map Editor on this unit" button.
The MAP editor will open in a new tab and the icon in the bottom left of the screen will turn green.
(If it is yellow or red, please check your ugo connection status)
When you first create a new floor, the map data will be empty, so the screen will be black.
In this case, click the + icon next to "Map Data"
Click Start creating MAP → Save.
Then, the map you just saved will be available for selection in the Map Data field.
Click the "Apply this map" button. (The applied map data will be linked to the floor.)
When you refresh the tab, a gray screen will appear, showing ugo's current location and the surrounding area as detected by LiDAR.
This step is only required the first time you create a new floor.
From now on, a gray screen will be displayed from the beginning.
*If it is not selectable and "No Data Available" remains, wait a few minutes and refresh the tab or follow the steps at ( link ).
The white square represents the aircraft, and the circle within it represents the forward direction.
The pink point cloud represents the surrounding environment as recognized by the LiDAR, and is displayed in the range that can be recognized in front, to the left and right, excluding the blind spot behind.
The dotted line in the background indicates the area (canvas) in which maps can be created, which is 150 x 150 (m) as of ver. 2.1.15.
The current coordinates and angle of the relative aircraft to the map are displayed in the bottom left. Immediately after startup, x, y, deg = 0, and these will change depending on movement or the map patrol position initialization command, etc.
When creating a new map, first manually move the coordinates of the robot.
Scrolling in empty space will zoom in/out, and dragging and dropping will move the canvas.
If your current location is not found, use these to find it.
Click the "Change Position" button on the bottom left and the cursor will change to a hand when you place it over the aircraft. Scrolling in this state will change the angle, and dragging and dropping will change the coordinates.
Once you have placed the actual ugo at the starting point of the map,
Considering the size of the map you want to create, move the coordinates to a position with some margin so that they do not overflow later.
Once you are done, click the Finish button.
To create a map, you will need to move ugo by pushing it from behind with your hand (in the LiDAR's blind spot) or by remotely controlling ugo from the operation screen.
Once all of the above preparations are complete, the person pushing/remotely controlling ugo moves into the LiDAR's blind spot.
Click the + icon next to "Map Data" and click the "Start MAP Creation" button to begin creation.
Objects detected by LiDAR are continuously recorded and a map is automatically created.
Create a map using the information below as a reference, then click the "Save" button to complete the saving.
・Creating something quickly and simply
Once map creation has started, maps will be created continuously.
It depends on the communication environment and the size of the map, but it can be created in a short time,
Obstacles recognized as obstacles may appear doubled, long straight lines may become distorted due to the characteristics of the onboard LiDAR, and the starting and ending points may become misaligned when going around a large floor.
・To create more accurately
Create the image little by little by repeating the process of moving → pausing → manual correction → resuming, just like taking a photograph.
For example, you can address the distortions mentioned above by correcting your position and angle halfway down a long straight line, or by pausing before turning.
*When creating a new map, the previously created map may remain as is rather than being semi-transparent and may be displayed overlapping.
In that case, please cancel and restart the Map service.
Once saving is complete, select the map and click the "Apply this map" button to link the map data to the floor.
Please note that only one map can be linked to one floor.