Patrol Route Mode; Localization Goals - Omron LD-60 User Manual

4.3 Configuration
GoalName
This is a combo box that lists all of the goals that have been created
on the map. Select the map goal to be serviced when this dropoff
button is pressed.
You can eliminate a button from the screen by making GoalName
blank. The other buttons will fill in, so there will be no blank spaces
in the screen.
ButtonLabel
This is the text label displayed on the dropoff button. If empty, the
GoalName is displayed.

Patrol Route Mode

The following parameters only apply to the Patrol Route mode.
In this mode you need to specify the name of the Patrol Route that the AMR will patrol. The
route needs to have already been set up using the MobilePlanner software. You also need to
specify if the AMR 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 AMR to start its patrol as soon as the Patrol Route screen
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is displayed (the AMR 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 robot from the touchscreen.
Each localization goal should have:
a heading
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The AMR 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 AMR 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 AMR may have
trouble seeing the wall behind those objects.
multiple visible lights, when using Acuity localization
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NOTE: A goal can have a wait time associated with
it, to give an Operator time to load or unload the
AMR. This is configured, in the map, using the
MobilePlanner software.
LD Platform Peripherals Guide 13732-000 Rev J