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LD Platform Peripherals Guide
13732-000 Rev J
6.5 Making a Map of Your Environment
X AXIS = Robot Physical > Acuity Camera Position > CameraTiltX
Y AXIS = Robot Physical > Acuity Camera Position > CameraTiltY
Be sure to include the + or – sign. You can press the HOLD button on the level to lock
the values.
Figure 6-18
Transferring Level Readings to the MobilePlanner Software
6. Reinstall the foam dust seal on the camera, and screw the camera tube back onto its
base. Ensure that the camera’s light filter is in place in the top of the tube.
6.5 Making a Map of Your Environment
In order to have your AMR perform autonomous mobile activities, you need to make a map of
its environment. Use the MobilePlanner software to make a map. Refer to the FLOW Core
User's Guide.
The tasks involved are:
l
Make a scan of the operating space while driving the AMR with the joystick.
NOTE:
It is a good idea to have the automated docking station installed
before you make the scan. The distinctive angle and shape of the front of
the docking station will be useful in locating and setting it up in the map.
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Load that scan from the AMR into MobilePlanner, on your PC, to create and edit the
map.
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Transfer the working map back to the AMR or EM.
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Localize the AMR with the newly-created map.
This is especially important for Acuity localization. Ensuring that the AMR is properly
localized, as opposed to offset by one or more lights, is critical.
Scanning the Environment
Light-Related Parameters
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Parameters in the Light Analysis Section are used for mapping only.
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Parameters in the Light Localization section apply only to runtime, not mapping.
