Setting Up Autonomous Routes; Setting Up Waypoints - ExRobotics ExR-1 Operating Manual

7. Dock the robot and check it charges.
8. Walk around the robot's routes and check for obstructions or items that might be
damaged.
9. Test drive the robot around its routes to check the 4G connection.
10. Ensure all robot users are familiar with the robot operating instructions and this manual.
11. Sign the delivery note and return it to ExRobotics.
The first time a customer deploys a robot an ExRobotics representative will be on-site to assist
with this process.
7.4.

Setting up autonomous routes

If a robot is supplied with the autonomy option it will follow an orange line without any human
intervention.
For demonstration purposes the line will typically be of orange tape. Although the line is self-
adhesive it's best to use glue for additional durability. To increase the tape's serviceable life lay
it in dry, warm conditions and try to position it so it won't be abraded by the robot's tracks or
other vehicles.
For longer, permanent routes it's best to use RAL2009 (orange) paint. ExRobotics can provide
advice on paint types and line-painting machines.
"Chili-tags" can be positioned at up to 80 waypoints where the robot needs to perform pre-
defined operations – e.g. docking, junctions, aiming cameras, and recording sensor readings.
Section 7.5 specifies how to set up waypoints.
When setting up an autonomous route avoid sharp 90⁰ bends because the robot will lose sight
of the line. Instead use curves or multiple, smaller bends (e.g. 4 x 22.5⁰). For the same reason,
when crossing a step approach it in a perpendicular direction otherwise the robot may twist
when mounting the step and lose sight of the line.
In congested areas the orange line needs to be carefully positioned. Straighter lines are best
because a robot will stray around the line when turning corners.
7.5.

Setting up waypoints

The location and tasks to be performed at a waypoint are defined by chili-tags. A typical tag is
illustrated below:
Each tag carries a label at its top that defines its task and an arrow to its right that defines its
orientation. There are three categories of tag:
Dock tags are used at the docking station (Dock 1, Dock 3, Dock 4).
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POI tags are used to identify a waypoint. The tasks to be performed at that waypoint are
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programmed using the Mission Editor. (POI 1, POI 2, POI 3, etc.)
Bow tags supplement the robot's rotational control (they indicate points around a notional
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"clockface" at each waypoint). (Bow 01:30, Bow 03:00, Bow 04:30 etc.)
The positioning of the chili-tags is illustrated below. The arrow on each tag should face in the
same direction as that in the diagram:
The Dock and Bow 12:00 tags are always required at docking stations.
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If a robot is to undock to the right, the Bow 01:30 and Bow 03:00 tags are required.
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ExRobotics B.V.
ExR-1 Robot
Operating Guide
This document is considered an uncontrolled copy when printed. Always ensure that you print and use a current version.
Copyright 2020 ExRobotics B.V.
Document No.: Owner:
20190122IP1
Version No.: 11 Ian Peerless
Date:
2020-03-31 Page 15 of 23