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4.3 Configuring a Touchscreen
In this mode you need to specify the name of the Patrol Route that the AIV will patrol. The
route needs to have already been set up using the MobilePlanner software. You also need to
specify if the AIV will start its patrol automatically, or if it requires an Operator to press Go.
Select Pages > PatrolRoutePage
In RouteName, enter the route to be patrolled.
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Check AutoStartRoute for the AIV to start its patrol as soon as the Patrol Route screen is
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displayed (the touchscreen has finished booting).
Localization Goals
You need to configure at least one localization goal. You can configure more if you want. A loc-
alization goal is needed to relocalize a lost AIV from the touchscreen.
Each localization goal should have:
a heading
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The AIV will need to be aligned with the heading when relocalizing.
This applies to both laser and Acuity localization.
mapped features that don't change much
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Things that get moved frequently, such as pallets, chairs, or carts do not make good
mapped features, because the map will not match what the laser is seeing.
mapped features that don't get blocked
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If a mapped wall is often used for stacking boxes or storing carts, the laser may have
trouble seeing the wall behind those objects.
multiple visible lights, when using Acuity localization
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The more lights the AIV can see, the better.
a high localization score
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This represents the percent of readings that the AIV currently sees that match the fea-
tures on its map.
NOTE: Localization goals do not have to be dedicated to localization - they can
also be used as normal goals for regular use.
In MobilePlanner, select:
Config > Robot Interface > Touchscreen
From there, use ChooseLocalizationPage to set LocalizationButtonCount to the number of loc-
alization goals you want, and then specify the GoalName and ButtonLabel for each.
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LD Platform Cart Transporter User's Guide
14766-000 Rev E
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