ExRobotics ExR-2 Operating Manual page 23

The mission will proceed to completion and the robot
will redock and start charging with no further human
intervention. However, as shown in the image, it's
possible to intervene if required. If you click on the
arrows at either side of the task bar a pop-up will
appear with more task information. You can skip to
any of those tasks by clicking on it.
When the robot is performing a mission, its POIs and
path will be shown. The path will be a dashed blue line
that will be within the green permitted robot route as
shown in this image. The robot's position will also be
shown and a short purple line will show the direction
in which it's facing.
There are additional icons with pop-up explanations at
the bottom right of the Click and Inspect screen. The
most significant are:
chat with other users of the robot, field engineers
& human robot supervisors (via TEAMs).
raise a ticket to report an issue to 2
7.3.5. Object Avoidance & Collision Detection
When a robot is performing an autonomous mission (but not when it's remotely controlled) it's
LiDAR will detect obstacles in the robot's path. If the object is low the robot may just slow down so
that it can navigate safely over the obstacle. If it's small, the robot will navigate around it whilst not
deviating from its route by more than 1.5m. If the object can't be avoided the robot will stop and
send a warning to the control station. A driver will then need to take control of the robot. There are
various options:
▪ Drive around the object and resume the mission.
▪ Skip one or more points of interest.
▪ Abandon the mission and manually drive the robot back to a docking station.
It should be remembered that collision avoidance is not perfect – see Section 5. If a robot collides
with an object then there will be some combination of unexpected events:
▪ Higher than expected motor torques.
▪ Unexpected IMU readings.
▪ Optical flow warnings from its cameras.
These will cause the robot to stop and send a warning to the control station. Again, a driver will
need to take control.
ExRobotics B.V.
ExR-2 Robot
Operating Guide
This document is considered an uncontrolled copy when printed. Always ensure that you print and use a current version.
Copyright 2023 ExRobotics B.V.
nd
line support.
Document No.: Owner:
20220412IP1
Version No.: 3 Ian Peerless
Date:
Page 22 of 69
2023-07-25