These are the setup steps to incorporate the map and route you created into Flow and automatically start map driving.
1. Prepare a map and route
Refer to Adding a Map and Adding a Route and create the map and route you will use.
This time, we have prepared a map and route like this.
The actual environment is as follows:
② Create a Flow for running
Create or edit a Flow from the "Flow Settings" section of ugo Portal.
Set "Floor" in the top right of the Flow editing screen to the same as the map you are using.
Only one map can be applied to each floor.
If you want to use multiple maps, add the "Call Flow" command at the end to call another Flow.
Place the "Map Patrol Position Initialization" command and specify the map and route.
This is "Route A" on "Floor A", so I set it like this.
"Auto Adjust" is a function that automatically corrects when the self-position or angle is misaligned, so
it is basically OK to leave it "Enabled" .
Place the "Start Map Patrol" command after it and specify the map and route.
"Side-to-side avoidance" is a function that allows you to move sideways to avoid an obstacle when it comes directly to your side, but
you can generally leave it as "Disabled."
"BGM volume" sets the volume of the music that plays while driving on the map.
Before, after, or in between, include commands as needed, such as collision detection settings.
Here is an example. I narrowed the collision detection settings, changed the face, and then made it speak at the start/end.
③ Place the aircraft at the start of the actual route
Place the ugo body close to the start point (first point) of the specified path.
Even if the position is off by 10 to 30 cm, it is not a problem if it is corrected later. (The acceptable range depends on the environment.)
This will allow the "Map Patrol Position Initialization" command to function.
The "Map Patrol Position Initialization" command is
This aligns ugo's position coordinates and angle relative to the map to the first point of the specified route.
Immediately after startup, ugo's position coordinates and angle are 0, 0, 0, so it cannot move.
Coordinates immediately after startup. Even though the actual aircraft is positioned to match the start point of the route, it
is far away from the coordinates on the map and route, so it cannot start traveling.
Therefore, by performing "Map patrol position initialization", ugo's own position can be compared with the map.
Coordinates after performing "Map Patrol Position Initialization".
The coordinates match the start point of the specified route, and the vehicle is ready to travel.
Also, if you enable "position adjustment" in the command,
From this point on, even if you move the aircraft or move it slightly by "changing position" in the map editor,
It will automatically be corrected to the correct position.
How the correction works
If it's enabled but not working,
Please try reloading the map.
④ Run the Flow
All you have to do is run Flow from the ugo operation screen.
If you are having trouble driving, try reloading the map ,
- Is the collision detection setting appropriate?
- Is the route unreasonable, such as suddenly turning 90 degrees?
- Is the environment such that sunlight is not affecting the infrared rays of the LiDAR?
Please confirm these questions before running the Flow.