Leica Geosystems BLC ARC Manual
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Leica Geosystems BLC ARC Manual

Leica Geosystems BLC ARC Manual

Blk arc-ui v2.0.0
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LEICA BLK ARC-UI
How to use v2.0.0
Copyright Leica Geosystems AG, Heerbrugg, Switzerland 2023.

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Summary of Contents for Leica Geosystems BLC ARC

  • Page 1 LEICA BLK ARC-UI How to use v2.0.0 Copyright Leica Geosystems AG, Heerbrugg, Switzerland 2023.

  • Page 2: Table Of Contents

    Export 3D map (*.bytes) for visual initialization – COMING SOON 5. BLK ARC-UI Operational guide a. How to access BLK ARC-UI b. How to use BLK ARC-UI 6. Troubleshooting 7. Best practices - NEW Copyright Leica Geosystems AG, Heerbrugg, Switzerland 2023.

  • Page 3: Introduction

    5. Create an offline mission file in Cyclone 3DR software 6. Upload the mission file to BLK ARC-UI and complete the mission in the field All required documentation can be downloaded from: https://myworld.leica-geosystems.com Copyright Leica Geosystems AG, Heerbrugg, Switzerland 2023.

  • Page 4: Installation Of Blk Arc-Ui

    On the Boston Dynamics controller (Spot App) open the About section and check if robot and tablet are running the same software versions compatible with BLK ARC-UI. Make sure that the Spot CORE has also a compatible version installed. Example Copyright Leica Geosystems AG, Heerbrugg, Switzerland 2023.

  • Page 5: Portainer Access And User Account

    Additionally, after logging in, a screen will show up asking to connect to an environment. Select Local and confirm by selecting Connect 6. If you have used Portainer before, login with the account you have previously defined. Copyright Leica Geosystems AG, Heerbrugg, Switzerland 2023.

  • Page 6: Docker Image Import

    Please note that the upload might take several minutes. Do not interrupt this process by clicking anywhere else. A successful upload will be indicated by a small pop-up and the progress wheel of the Upload button will go away. Copyright Leica Geosystems AG, Heerbrugg, Switzerland 2023.

  • Page 7: Stack Configuration

    In case the Stack cannot be deployed and Portainer gives you an error, open Containers panel, select two containers below and Stop them: • Fire_ext_detector • Ncb_daq_plugin It might also be required to delete the failed containers manually before trying again. Copyright Leica Geosystems AG, Heerbrugg, Switzerland 2023.

  • Page 8: Containers Check

    PAYLOAD AUTHORIZATION To properly register the payloads, after successful installation of BLK ARC-UI, it is recommended to follow the steps below: Copyright Leica Geosystems AG, Heerbrugg, Switzerland 2023.
  • Page 9 3. Forget/Reject all existing payloads (including older payloads for BLK ARC or UAX Connect or Spot CORE) 4. Restart Spot 5. After reboot, the latest payloads will appear. Access Admin console again, and Authorize new payloads for BLK ARC and Spot CORE Copyright Leica Geosystems AG, Heerbrugg, Switzerland 2023.
  • Page 10 Copyright Leica Geosystems AG, Heerbrugg, Switzerland 2023.

  • Page 11: Networking With Spot

    Spot, handles Spot's networking, lets you download logs and offers much more. In this guide we will use the Network Setup page. More information on the Admin Console can be found in the documentation provided by Boston Dynamics. Copyright Leica Geosystems AG, Heerbrugg, Switzerland 2023.
  • Page 12 3. Login using the admin account of your Spot. The corresponding password was given to you with the delivery of the robot. The default one is written in the battery-compartment of Spot. 4. Click on Network Setup Copyright Leica Geosystems AG, Heerbrugg, Switzerland 2023.

  • Page 13: Cockpit

    3. The first time you try to access Cockpit it might be that the browser asks you if you trust the page. Confirm the risk knowledge and proceed to the page 4. Login using the credentials of your Spot CORE. Boston Dynamics provided these credentials when you got your Spot CORE delivered Copyright Leica Geosystems AG, Heerbrugg, Switzerland 2023.
  • Page 14 Usually when you login for the first time or if you performed a Spot CORE's factory reset, default credentials are: Username: spot Password: password 5. Click on Networking Copyright Leica Geosystems AG, Heerbrugg, Switzerland 2023.

  • Page 15: Find The Default Gateway / Route

    Default Gateway for WiFi- and Ethernet- Connections on Windows. a. WiFi-Network on Windows Instructions on how to find your WiFi-Network’s Default Gateway on Windows 1. Open the Settings (Windows icon → Settings) Copyright Leica Geosystems AG, Heerbrugg, Switzerland 2023.
  • Page 16 2. Go to Network & Internet page 3. Go to the WiFi page and open the Network and Sharing Center Copyright Leica Geosystems AG, Heerbrugg, Switzerland 2023.
  • Page 17 4. Select your WiFi-Connection 5. Click on Details... Copyright Leica Geosystems AG, Heerbrugg, Switzerland 2023.

  • Page 18: Ethernet-Network On Windows

    6. Find IPv4 Default Gateway b. Ethernet-Network on Windows Instructions on how to find your Ethernet-Network’s Default Gateway on Windows 1. Open the Settings (Windows → Settings) Copyright Leica Geosystems AG, Heerbrugg, Switzerland 2023.
  • Page 19 2. Go to Network & Internet page 3. Go to the Ethernet page and open the Network and Sharing Center Copyright Leica Geosystems AG, Heerbrugg, Switzerland 2023.
  • Page 20 4. Select your Ethernet-Connection 5. Click on Details... Copyright Leica Geosystems AG, Heerbrugg, Switzerland 2023.

  • Page 21: Option 1: Setup Internet Connectivity By Using A Wifi Usb-Dongle

    1. Plug the USB-Dongle into one of the USB-Ports of Spot CORE. Make sure the dongle is connected to the Spot CORE before starting the Spot robot 2. Start Spot 3. Make sure there is no Gateway defined in Cockpit: a. Go to cockpit's Network page Copyright Leica Geosystems AG, Heerbrugg, Switzerland 2023.
  • Page 22 Click on Apply to save these settings 4. Go to BLK ARC-UI, select Settings and press add on WiFi. A pop-up window will open and it will be possible to select the SSID and write Password of your WiFi-Network Copyright Leica Geosystems AG, Heerbrugg, Switzerland 2023.
  • Page 23 5. Once connection is established the icon should appear above Spot icon in the top right corner. 6. Enjoy upload of your files to HxDR! Copyright Leica Geosystems AG, Heerbrugg, Switzerland 2023.

  • Page 24: Option 2: Setup Internet Connectivity By Using Spot's Wifi

    Check that there is no device on this IP: 1. Connect your computer to the WiFi-Network you later want to connect Spot to 2. Open a terminal (search for CMD under windows) Copyright Leica Geosystems AG, Heerbrugg, Switzerland 2023.
  • Page 25 4. Setup the Gateway on Spot CORE in order to route internet-traffic from Spot CORE to Spot: a. Go to Cockpit's Network page b. On the networking page click on the Interface enp2s0 Copyright Leica Geosystems AG, Heerbrugg, Switzerland 2023.
  • Page 26 Go to the Network Setup page on Spot's Admin Console. b. Go to the WiFi tab c. Change the WiFi Network Type from Access Point to Client d. Enter the name of your WiFi-Network under Network Name Copyright Leica Geosystems AG, Heerbrugg, Switzerland 2023.
  • Page 27 Please ask your network administrator h. Enter the Default Gateway under Stored Default Route Slide the lever to specify this connection as your Default Route under Is Current Default Route Apply the settings by pressing on Apply Copyright Leica Geosystems AG, Heerbrugg, Switzerland 2023.
  • Page 28 And finally you should be able to upload to HxDR from BLK ARC-UI Instructions on how to revert Internet Connectivity from using Spot’s WiFi (change WiFi back to Access-Mode) 1. Make sure there is no Gateway defined in Cockpit: Copyright Leica Geosystems AG, Heerbrugg, Switzerland 2023.

  • Page 29: Option 3: Setup Internet Connectivity By Spot's Ethernet

    For a sample Default Gateway of 10.62.80.70 your selected IP would now be 10.62.80.233 v. Check that there is no device on this IP: 1. Connect your computer to the Ethernet-Network you later want to connect Spot to Copyright Leica Geosystems AG, Heerbrugg, Switzerland 2023.
  • Page 30 4. Important: Ideally you contact your network administrator and ask him to assign a fixed IP-Address for Spot directly on your network! This would be the proper way! 2. Remove the WiFi-Dongle if it was still plugged into Spot CORE Copyright Leica Geosystems AG, Heerbrugg, Switzerland 2023.
  • Page 31 4. Setup the Gateway on Spot CORE in order to route internet-traffic from Spot CORE to Spot: a. Go to Cockpit's Network page b. On the networking page click on the Interface enp2s0 c. Click on the text next to IPv4 d. Write 192.168.50.3 into the Gateway Copyright Leica Geosystems AG, Heerbrugg, Switzerland 2023.
  • Page 32 The window should now look as in the picture Click on Apply to save these settings 5. Change the Ethernet-Network on Spot's Admin Console: a. Go to the Network Setup page on Spot's Admin Console Copyright Leica Geosystems AG, Heerbrugg, Switzerland 2023.
  • Page 33 Please ask your network administrator e. Enter the Default Gateway under Stored Default Route Slide the lever to specify this connection as your Default Route under Is Current Default Route g. Enter 8.8.8.8 under DNS Nameservers Copyright Leica Geosystems AG, Heerbrugg, Switzerland 2023.
  • Page 34 You reach Portainer under port 21900 (for example https://10.62.80.233:21900) You reach Cockpit under port 21443 (for example https://10.62.80.233:21443) g. And finally you should be able to upload to HxDR from BLK ARC-UI Copyright Leica Geosystems AG, Heerbrugg, Switzerland 2023.

  • Page 35: Offline Mission Planning

    The fiducial will be detected by Spot cameras. To achieve best results, follow best practices regarding how/where to mount a fiducial (for detailed instruction please refer to this link). Copyright Leica Geosystems AG, Heerbrugg, Switzerland 2023.

  • Page 36: Overview On Possible Workflows - New

    Boston Dynamics can be used that is mounted on docking station. The number of the fiducial does not need to be specified in path planning. OVERVIEW ON POSSIBLE WORKFLOWS Copyright Leica Geosystems AG, Heerbrugg, Switzerland 2023.
  • Page 37 (*.b2g) used for 3D map (*.bytes) -If visual initialization fails due to poor lighting condition or lack of features, use real Fiducial for traditional mission start as a fallback solution Workflow 4 -GA03 & GAD130 On site: (hardware) Copyright Leica Geosystems AG, Heerbrugg, Switzerland 2023.

  • Page 38: Create A Project In Cyclone 3Dr

    Press Play to start. Follow the instructions described below or in the wizard displayed in Cyclone 3DR user interface. Once the Fiducial is defined properly, repeat the steps for BLK ARC Mission Planner.js. Copyright Leica Geosystems AG, Heerbrugg, Switzerland 2023.
  • Page 39 One point in the corner taken as a reference (1), b. One point on the edge between the wall and the floor (2), One in front of the wall where Fiducial is located (3). Copyright Leica Geosystems AG, Heerbrugg, Switzerland 2023.
  • Page 40 Y axis should be horizontal, aligned to the wall and pointing right. c. Z axis should be oriented vertically (upward). If any of the conditions above is not respected, restart the script, and repeat steps 1-3 (press ESC to close the script). Copyright Leica Geosystems AG, Heerbrugg, Switzerland 2023.
  • Page 41 • Y axis → Length on the selected surface • Z axis → Height from the floor 5. As an output available are: a. Properly oriented UCS b. Properly placed Fiducial mesh c. Distances calculated / entered from the edges Copyright Leica Geosystems AG, Heerbrugg, Switzerland 2023.
  • Page 42 3. UCS will appear. Check if the directions are correct: a. X axis should be oriented external to the wall b. Y axis should be horizontal, aligned to the wall and pointing right Copyright Leica Geosystems AG, Heerbrugg, Switzerland 2023.
  • Page 43 Click a point on the model (y). b. Manually enter the offset in relation to the Y and X axes (n): • Y axis → Length of the selected surface • Z axis → Height from the floor Copyright Leica Geosystems AG, Heerbrugg, Switzerland 2023.
  • Page 44 1. Manually set a UCS that meets the following requirements: a. X axis should be oriented external to the wall b. Y axis should be horizontal, aligned to the wall and pointing right Copyright Leica Geosystems AG, Heerbrugg, Switzerland 2023.
  • Page 45 BLK ARC FIDUCIAL UCS – METHOD 4: DOCKING STATION Method 4 is designed to use for missions with a Docking Station available. In the next steps the instruction for Method 4 will be explained. 1. Define the input data Copyright Leica Geosystems AG, Heerbrugg, Switzerland 2023.
  • Page 46 One at the back of the docking station One in front of the docking station One on the left side of base plate 6. As an output available are: a. A projection of docking station b. Properly placed Fiducial mesh Copyright Leica Geosystems AG, Heerbrugg, Switzerland 2023.

  • Page 47: Blk Arc Mission Planner - Mission Without Docking Station

    In case the projection is not placed correctly, undo the process (ctrl+z) and repeat the steps above until the result is satisfactory. BLK ARC MISSION PLANNER – MISSION WITHOUT DOCKING STATION 1. Start BLK ARC Mission planner and define a name of the mission. Copyright Leica Geosystems AG, Heerbrugg, Switzerland 2023.
  • Page 48 None (default: walk through point) b. Static Scan Low (10s scan) c. Static Scan Medium (30s scan) d. Static Scan High (60s scan) Copyright Leica Geosystems AG, Heerbrugg, Switzerland 2023.

  • Page 49: Blk Arc Mission Planner - Mission With Docking Station

    UCS is related to docking station (y). Draw a path, point by point, remembering that the first waypoint will be placed automatically close to the docking station. Press Enter to validate. Copyright Leica Geosystems AG, Heerbrugg, Switzerland 2023.
  • Page 50 Static Scan Medium (30s scan) d. Static Scan High (60s scan) The window below will pop up – press ok to dock at the end of the mission, then create a path leading to the docking station. Copyright Leica Geosystems AG, Heerbrugg, Switzerland 2023.
  • Page 51 The window below will appear. Press OK if you want to export *.obj file as a reference model for the mission. Important: Reference model is required to perform a mission with docking station. Copyright Leica Geosystems AG, Heerbrugg, Switzerland 2023.

  • Page 52: Export 3D Model (*.Obj) For Pose Optimization

    4. Create the path with BLK ARC Mission Planner (see section “BLK ARC MISSION PLANNER”) 5. Once the mission is defined, DO NOT MOVE the model 6. Select the BIM model 7. Go to Extract menu, select Mesh and press From BIM Copyright Leica Geosystems AG, Heerbrugg, Switzerland 2023.
  • Page 53 8. Select the BIM model 9. Go to File menu, select Export…, press Selected object and then File to export… 10. Select *.obj as format file, add name and Save Copyright Leica Geosystems AG, Heerbrugg, Switzerland 2023.

  • Page 54: Export 3D Model (*.Obj) From Mesh

    4. Once the mission is defined, DO NOT MOVE the model 5. Select all and only the meshes you are interested in 6. Right click and press Group to create a unique mesh 7. Select the mesh Copyright Leica Geosystems AG, Heerbrugg, Switzerland 2023.
  • Page 55 10. Before export make sure that the unit is set to meters (m) and that Export in current UCS is NOT selected EXPORT 3D MAP (*.BYTES) FOR VISUAL INITIALIZATION Coming soon! This manual will be updated and made available as soon as it is available on the HxDR platform. Copyright Leica Geosystems AG, Heerbrugg, Switzerland 2023.

  • Page 56: Blk Arc-Ui Operational Guide

    BLK ARC-UI OPERATIONAL GUIDE BLK ARC-UI is a browser-based user interface dedicated for operating BLK ARC Laser Scanner integrated by Leica Geosystems with robotic carriers, such as Boston Dynamics Spot robot. How to access BLK ARC-UI on Spot 1. Connect from any device (smartphone, tablet, laptop) to Spot’s WiFi network.

  • Page 57: How To Use Blk Arc-Ui

    5 – My files – this panel contains all information about the data collected with BLK ARC and it allows to transfer / download / process / view / upload to HxDR. 6 – Control – this panel allows to control the BLK ARC laser scanner independently manually and/or robotic carrier. Copyright Leica Geosystems AG, Heerbrugg, Switzerland 2023.
  • Page 58 Scanner section and then selecting a different option of connection (it will require to mount an external WiFi dongle). In the Carrier tab, it is possible to define the model of carrier you are connected with. Copyright Leica Geosystems AG, Heerbrugg, Switzerland 2023.
  • Page 59 To enable Internet connection on Spot CORE, it is necessary to use an external WiFi dongle that must be connected to the Spot CORE. The credentials of the available WiFi network must be defined in WiFi. Please check Networking chapter for more details. Copyright Leica Geosystems AG, Heerbrugg, Switzerland 2023.
  • Page 60 CORE. For detailed instructions on how to create a mission file please refer to Offline mission planning chapter. Once the file is uploaded, choose the mission from the list. The preview of the selected mission will appear. Copyright Leica Geosystems AG, Heerbrugg, Switzerland 2023.
  • Page 61 Once the mission is selected, with or without the Unobserved Mode enabled, simply select the Initialize Mission button to begin. After that, the robot will power on. The status of the mission is displayed at the top of the screen. Copyright Leica Geosystems AG, Heerbrugg, Switzerland 2023.
  • Page 62 After powering on the carrier, the robot control panel appears. Use the remote joysticks to move the robot within the range where the fiducial can be detected. Copyright Leica Geosystems AG, Heerbrugg, Switzerland 2023.
  • Page 63 Yellow dots represent static scan positions. The next waypoint is marked with a black dot. The green part of the trajectory represents the part of the mission that has already been completed. Copyright Leica Geosystems AG, Heerbrugg, Switzerland 2023.
  • Page 64 End the mission. Once the mission is completed, a feedback message will appear on the screen of the mobile device, the robot will sit down and turn off the motors. Copyright Leica Geosystems AG, Heerbrugg, Switzerland 2023.
  • Page 65 To do so, move the carrier to best environment possible (open sky area). That will ensure the best mission performance. It is important to keep in mind that well performed calibration is a key to a succesfull autonomus outdoor mission. Copyright Leica Geosystems AG, Heerbrugg, Switzerland 2023.
  • Page 66 Press the Start button (the button will be available only when the GNSS connection has been estabilished and the status is good (green Icon). The scanner will initialize and then you will be prompted to calibrate the GNSS module. Move the carrier in an L – shaped path. Copyright Leica Geosystems AG, Heerbrugg, Switzerland 2023.
  • Page 67 2. Go to closest Waypoint - the robot will go to the nearest nearest but not yet visited waypoint and continue the mission from there. 3. Return to home - the robot will return to home – to the point where the calibration was completed. Copyright Leica Geosystems AG, Heerbrugg, Switzerland 2023.
  • Page 68 The green part of the trajectory represents the part of the planned path, that has already been completed and the blue line represents the actual shape of the path the carrier had walked. Copyright Leica Geosystems AG, Heerbrugg, Switzerland 2023.
  • Page 69 Return to Home command will be triggered. Before it will be executed the user has 10 seconds to take an action to avoid that. This can be pausing the mission and manually walking the Copyright Leica Geosystems AG, Heerbrugg, Switzerland 2023.
  • Page 70 For detailed instructions on how to export an *.obj file in the correct coordinate system, please refer to the Offline mission planning chapter. Copyright Leica Geosystems AG, Heerbrugg, Switzerland 2023.
  • Page 71 It is possible to use the same model for multiple missions, if they were planned on the same file. You can also navigate into preview of the 3D model. Copyright Leica Geosystems AG, Heerbrugg, Switzerland 2023.
  • Page 72 Once the 3D model is attached to the mission, the icon will change. To detach the model, you can press the icon twice. The icon will represent the current status. Copyright Leica Geosystems AG, Heerbrugg, Switzerland 2023.
  • Page 73 HxDR platform. If the 3D model is detached, the 3D map will be automatically detached too. Below is the instruction on how to execute the mission using the visual initialization for autonomous mission in BLK ARC-UI. Copyright Leica Geosystems AG, Heerbrugg, Switzerland 2023.
  • Page 74 Press marked icon in order to upload & attach a 3D map to your mission file. Note: Icon for attaching 3D map is disabled if 3D model is not attached yet. Copyright Leica Geosystems AG, Heerbrugg, Switzerland 2023.
  • Page 75 Copyright Leica Geosystems AG, Heerbrugg, Switzerland 2023.
  • Page 76 In case the visual initialization fails, rotate the robot or move it around the first mission points to improve the vision of the scene and repeat. Copyright Leica Geosystems AG, Heerbrugg, Switzerland 2023.
  • Page 77 If a docking station is available, the control panel also allows to dock and undock the robot. The buttons are enabled only when the robot is close to the docking station and can detect it. Copyright Leica Geosystems AG, Heerbrugg, Switzerland 2023.
  • Page 78 During a static pose, the manual control panel will disappear to prevent unintentional movement commands. The countdown till the end of the static scan will be displayed. During tripod pose, the robot’s collision avoidance is working and in rare cases, when collision is Copyright Leica Geosystems AG, Heerbrugg, Switzerland 2023.
  • Page 79 USB stick / upload to HxDR or download via browser. Copyright Leica Geosystems AG, Heerbrugg, Switzerland 2023.
  • Page 80 USB – from Spot CORE directly to the USB memory stick connected to the Spot CORE USB-A port. The USB stick must be connected to the Spot CORE before turning on the robot Copyright Leica Geosystems AG, Heerbrugg, Switzerland 2023.
  • Page 81 Copyright Leica Geosystems AG, Heerbrugg, Switzerland 2023.
  • Page 82 If the e57 file is available on Spot CORE, the point cloud preview is available in the BLK ARC-UI. Select the point cloud thumbnail on the left. This will open a window with a 3D preview of the colored e57 file. Copyright Leica Geosystems AG, Heerbrugg, Switzerland 2023.
  • Page 83 Using the mouse to navigate, use the following commands: • left mouse button for panning • right mouse button for rotating • scrolling the mouse for zooming. Copyright Leica Geosystems AG, Heerbrugg, Switzerland 2023.

  • Page 84: Troubleshooting

    Access the Portainer, navigate to Stacks and click on the previously generated stack named BLK ARC-UI. In the menu-bar of the container you can either control the service (start/stop/restart) or generate a log file using the following commands: Copyright Leica Geosystems AG, Heerbrugg, Switzerland 2023.
  • Page 85 Refresh the BLK ARC-UI, wait 10 seconds and check if that solves the problem. 2. In BLK ARC-UI, go to Settings and make sure that the active profile is set to BLK ARC device and USB connection type. Restart the robot. Copyright Leica Geosystems AG, Heerbrugg, Switzerland 2023.
  • Page 86 It is recommended to always do a restart of the system after upgrading the firmware of BLK ARC module and BLK ARC-UI (Spot, Spot CORE, BLK ARC). BLK ARC-UI AND TIME SYNCHRONIZATION ISSUE If this issue happens, please restart Stack file on Portainer. Copyright Leica Geosystems AG, Heerbrugg, Switzerland 2023.
  • Page 87 • If the upload does not start, please restart the stack. • If ongoing upload to HxDR gets stuck: • If the process is blocked and does not progress, please restart the stack. Copyright Leica Geosystems AG, Heerbrugg, Switzerland 2023.

  • Page 88: Best Practices - New

    Check out below the best practices which should be followed, when using the BLK ARC on Spot. BEFORE YOU START Make sure all your hardware is running the latest and compatible versions. The latest installers can be found at myworld.leica-geosystems.com. The release notes describe all compatible necessary components. Copyright Leica Geosystems AG, Heerbrugg, Switzerland 2023.
  • Page 89 The scan initialization (moment when BLK ARC LED is blinking yellow when starting a scan) is a crucial step in data collection. It will be performed nearby your fiducial, therefore consider placing it in a SLAM-friendly place. Keep in mind field of view and minimal distance for lidar. Copyright Leica Geosystems AG, Heerbrugg, Switzerland 2023.
  • Page 90 If BLK ARC cannot be initialized, due to unstable position or insufficient number of features around - the initialization process will be aborted, and the LED will turn yellow. In such case, restart the device, correct the position, and then re-try the scan. Copyright Leica Geosystems AG, Heerbrugg, Switzerland 2023.
  • Page 91 Draw obstacle free path – BLK ARC Mission planner script There is no limitation to the length between 2 waypoints. Avoid waypoints in tight spaces or very close to glossy or transparent elements. Remember about some limitations of Spot’s collision avoidance. Copyright Leica Geosystems AG, Heerbrugg, Switzerland 2023.
  • Page 92 Considering the GrandSLAM technical details mentioned above, it is recommended to: Do not stress the IMU, that means move the robot as gently as possible when collecting data with the BLK ARC. void sudden movements, device shocks and strong vibrations Copyright Leica Geosystems AG, Heerbrugg, Switzerland 2023.
  • Page 93 Keep the Lidar’s field of view clear, so it can measure as much geometrical information as possible from many different directions. Ensure the best possible lighting conditions while collecting data. If working in a dark environment, consider mounting additional artificial light source on the robot. Copyright Leica Geosystems AG, Heerbrugg, Switzerland 2023.
  • Page 94 Use Spot only in areas where a fall or collision will not result in an unacceptable risk. The following conditions can hamper the robot’s obstacle detection system, which may result in collisions: Copyright Leica Geosystems AG, Heerbrugg, Switzerland 2023.
  • Page 95 As the Local Obstacle Avoidance function uses live streamed LiDAR data, moving people or objects too close to ARC may hinder the process of planning a new path carried out by the robot. Copyright Leica Geosystems AG, Heerbrugg, Switzerland 2023.
  • Page 96 During initialization the BLK ARC needs to see meaningful scene. When starting a mission with visual initialization, the BLK ARC will capture images with detail camera and use them for re-localizing inside 3D map prepared earlier based on scan (*.b2g file). Copyright Leica Geosystems AG, Heerbrugg, Switzerland 2023.
  • Page 97 Important: Pointing the camera camera towards a source of light will make the image partially over or underexposed. Try to avoid it. Well exposed image and with non-planar visual features will make visual initialization more successful. Copyright Leica Geosystems AG, Heerbrugg, Switzerland 2023.
  • Page 98 Instead of having a large loop, it is better to plan path to have medium sized loops that cross each other with significant overlap. Copyright Leica Geosystems AG, Heerbrugg, Switzerland 2023.

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