ExRobotics B.V.
ExR-2 Robot
Operating Guide
Document No.:
20220412IP1
Version No.: 2
Owner:
Ian Peerless
Date:
2022-04-30
Page 18 of 39
This document is considered an uncontrolled copy when printed. Always ensure that you print and use a current version.
Copyright 2022 ExRobotics B.V.
7.2.
Line Following Navigation
For undocking, define the exit direction of the robot when leaving the docking station. When the
robot “undocks” it drives in reverse until the middle point between the “Dock 1” and the “12:00”
tags. Then the robot will rotate and exit the docking station to start following the line in one of
three possible directions: 03:00 (robot rotates 90 degrees clockwise), 06:00 (robot rotates 180
degrees), or 09:00 (robot rotates 90 degrees counter-clockwise).
▪
From the Mission Editor screen
select action “Undocking”
▪
Select the Exit Direction (e.g. 09:00)
▪
Write a name in Select Action Name e.g. “Undock”
▪
Click “Save”
For waypoints that are used as junctions where a robot selects between alternative routes.
▪
From the Mission Editor screen select action “Junction”
▪
Select Exit Direction (e.g. 06:00).
▪
Select the waypoint number for the Junction (the number on the chili-tag).
▪
Give the action a name e.g. “Junction 1”
▪
Click “Save”
7.3.
Tag Based Inspections
1.
Launch an autonomous mission from the Robot Control screen and stop the mission a few
meters before the waypoint at which actions are to be performed (with the orange line visible
from the floor cam).
2.
Open the Mission Editor screen.
3.
Click on “Create Mission” and give a name
Robot control
Add Action
Save Mission
