Mission interface. Technical Documentation

Transcription

1 Mission interface Technical Documentation Version 1.6 Software release 1.7 Release date:

2 Table of contents 1 Introduction Missions Examples of creating and using a mission Move to known position Show light Wait Second Move To known Position Play sound Relative move Creating address for the recipient Creating an error contact Configuration of account Setting the action Send within a mission SMS configuration Set up a route mission Frequently Asked Questions Changelog Copyright Mobile Industrial Robots Page 2 of 47

3 1 Introduction The principle of the mission interface is to make it possible for the user to tailor the behavior of MiR100 using a mission list which will be placed in the mission queue. A mission can contain one to more actions. The TAXI menu will still be available from the main menu, but is considered as a mission which contains only one action. MiR100 also has a feature called Route. With this feature, MiR100 can drive in a loop to different locations and wait at each location within a defined time interval. In order to setup the Route functionality, see chapter 3. 2 Missions Using a mission gives the possibility for the user to i.e. set the MiR100 to go to a given location, wait a couple of minutes, sound the horn and then drive to another location. Example of using a mission is described in section 2.1. An overview of all the actions is described in Appendix A, chapter 6. The missions are placed in a mission queue and will be executed if the mission node is running. If not, open the Mission menu from the main page and click the green Start Mission button. Step Instruction Illustration 1 Log in as administrative user. Click to open Mission. 2 In some cases, for example if a new map has been loaded, the mission node must be started manually by pressing the green Start mission. Otherwise it always starts automatically. Missions added to the missions In order to execute a mission, the mission node must be started. If the mission node is not active, press the Start mission button first. Copyright Mobile Industrial Robots Page 3 of 47

4 queue will be stated as pending until the mission node is active. Once the node is active, the first mission in the mission queue will be executed. The mission node can be started automatically by setting a flag in the ROS parameter. Go to Service Configuration System settings ROS parameter. Table 1. How to create a mission. When you click Create mission, the page will show an action list and a mission section. This is shown in Figure 1. Left column Actions (1) contains a list of different actions. An overview of all actions is found in Appendix A. The Missions column (2) is the mission creation section. Name the mission and select the area of the given mission, then build the mission by dragging the needed actions from the Actions list to the Mission area. In section 2.1 an example of creating a mission list is explained. 1 2 Figure 1 Create a mission from Actions list Copyright Mobile Industrial Robots Page 4 of 47

5 2.1 Examples of creating and using a mission In this section, an example is provided in order to explain how to define a mission which MiR100 will perform. In this example it is desired to program MiR100 to do the following actions: 1. Go to a known position (1). 2. Flash with lights. 3. Wait 10 seconds. 4. Go to known a position (2) 5. Play sound. 6. Turn 180 degrees. Navigate to the mission menu as described on previous pages. Every mission must have a name. The description is optional. Remember to select the right area for the mission. In this example the name of the mission is Our mission. This is shown in Figure 2. Figure 2 Creating a mission called Our Mission under the My Company area Copyright Mobile Industrial Robots Page 5 of 47

6 2.1.1 Move to known position Drag and drop or double-click on the action Move To Known Position in the left column in order to add the action to the mission list. This is shown in Figure 3. Figure 3. First action added to the mission: Move to Known Position To select a position for Move To known position, click on the action to open a drop-down list and select a position from the list. Figure 1 Move To Known Position with options expanded Copyright Mobile Industrial Robots Page 6 of 47

7 Figure 4. Selecting a position on the drop-down list Show light The next action is to show some light after the MiR100 has arrived to the position Service. Drag and drop the Show Light action into the mission list. Different light effects can be selected. This is shown in Figure 5. Figure 5. Adding the Show Light action into the mission list Wait In order to have time to see the light, a Wait action of 5 seconds is added to the mission list. This is shown in Figure 6. Copyright Mobile Industrial Robots Page 7 of 47

8 Figure 6. Adding Wait to the mission list Second Move To known Position Adding the second position, drag in another Move to Known Position action into the mission list and select the next desired location. This is shown in Figure 7. Figure 7. Adding second position Backend gate to the mission list Play sound In order to play a sound when the MiR100 has arrived at the position Backend gate, the action Play sound is inserted into the mission list. This is shown in Figure 8. Copyright Mobile Industrial Robots Page 8 of 47

9 Figure 8. Adding the Play Sound action to the mission list. Copyright Mobile Industrial Robots Page 9 of 47

10 2.1.6 Relative move Since the space near the position Backend gate is tight, it is desired to let the MiR100 make a 180 degree turn on the spot, before continuing to the next position. Therefore, the action Relative move is added to the mission list. Entering positive values in the orientation makes the MiR100 turn counterclockwise as long as the orientation is between 0 and 180 degrees. If the angle is larger, e.g. 181, the MiR100 will turn clockwise and turn 179 degrees instead. Figure 9. Adding the Relative move action to the mission list. When all actions in a mission list have been executed, the mission is cleared from the mission list and the next mission is executed. If there are no more missions in the mission queue, the mission interface will return the status of Waiting for missions. The light of the MiR100 will be green indicating that the MiR100 is ready for a new mission. Copyright Mobile Industrial Robots Page 10 of 47

11 2.2 MiR100 can be set up to send mails. Sending an is an action, which can be chosen when defining a mission. A simple example of using the feature is to let MiR100 send an , when it has arrived at a given location. The mission will then contain two actions, i.e. Move to known position and Send . Before you can set up an action, a Google account must be set up in the robot. The next three sections, 2.2.1, and guides you through the setup. If the local area has its own SMTP server, the MiR100 can be configured to use this server Creating address for the recipient First the address of the recipient must be created. This is done by the following the steps in Table 2. Step Instruction Illustration 1 Log in as administrative user. Go to Service, > Configuration > Contacts 2 Select Create Contact. Fill out name and and optionally phone no. and location. Copyright Mobile Industrial Robots Page 11 of 47

12 3 After the contact has been created, the list of contacts is updated. Table 2. How to create contacts Creating an error contact One or more error contacts can be set created from the contacts list. The robot will send a message to the error contact(s) if it goes into emergency stop. Step Instruction Illustration 1 In the Create contacts menu, select name from the drop-down list and select if the message should be an SMS or an . Delay in minutes can be set if you want the robot to wait a while before sending the message or if you want set up more than one error contact and want messages to be sent at different intervals. Click create to save. 2 After the error contact has been created, the list of error contacts is updated. Table 3. How to create error contacts. Copyright Mobile Industrial Robots Page 12 of 47

13 2.2.3 Configuration of account When the procedure in section has been completed, a recipient is available for receiving mails from MiR100. This section explains in Table 4 how to set up a Google account which MiR100 is using in order to send from MiR100 to the recipient. Step Instruction Illustration 1 Log in as administrative user. Go to Service - >Configuration- >System settings -> configuration 2 Fill out the all the information. 3 After the contact has been created, the list of contacts is updated. Table 4. How to configure a Google account. For the Google account example: Sender <Create your own Google account> Sender name: MiR100 Username: <Create your own Google account> Password: <Create your own Google mail password> SMTP server: smtp.gmail.com Port: 465 Encryption type: SSL Authentication required: Yes SMS gateway: <Setup acc. to specifications from your SMS gateway provider > Copyright Mobile Industrial Robots Page 13 of 47

14 2.2.4 Setting the action Send within a mission. The following Table 5 describes how the action Send is configured inside a mission. Make sure to have completed section and Step Instruction Illustration 1 Log in as administrative user. Click to open Mission. 2 Press Create mission Copyright Mobile Industrial Robots Page 14 of 47

15 Step Instruction Illustration 3 Start by naming the mission. Description is an optional info field. Area is the map, where MiR100 is located. Drag the Send E- mail action to the mission. 4 Left click on the action Send E- mail in order to expand the action. Insert the recipient, the subject and the messages. Push the Save button to save the mission. Copyright Mobile Industrial Robots Page 15 of 47

16 5 Result of robot sending an to a contact. Table 5. Setting the action Send inside a mission SMS configuration In order to setup the SMS configuration, the following steps must be completed: 1. Make sure to have established and tested the configuration as described in section Contact MiR support@mir-robots.com in order to finish the last SMS part of the configuration. Copyright Mobile Industrial Robots Page 16 of 47

17 3 Set up a route mission In order to set up a route from mission interface, the MiR100 must be powered up and indicate that it is ready. From here you can get access to MiR100 through a PC, tablet or smartphone by connecting the device to MiR100s local WiFi. In this example the user has been connected to a MiR100 by logging into the internal WiFi and from the device entered mir.com in the browser field. This action will give you the main menu on the device as shown in Figure 10. Figure 10 Main menu of the web-interface. Copyright Mobile Industrial Robots Page 17 of 47

18 Figure 11 MiR 100 Route menu. From this menu routes are created/edited and also executed. From within the Route menu, you set up the route plan. It is assumed that MiR100 has stored a map and that MiR100 is well localized within the map. Select Route plans. This will open the page shown in Figure 6. Here previous route plans are listed, which can either be deleted or edited. To edit the positions later, e.g. change the x, y and orientation information for a given position or add new position to a given route, push the yellow Edit button, which is located in Figure 6. An entire route plan can be deleted from the Route plan by clicking the red Delete button. Copyright Mobile Industrial Robots Page 18 of 47

19 Figure 12 Route plans Click the blue Create button to create a new route plan, or select an existing route plan and click the yellow Edit button to change the settings. Clicking on Create will open the page, which is shown in Figure 13. Enter a name for the route plan and use the area the MiR100 is operating within. In this example, the route plan is labeled RouteTest and MiR100 is using the area called MiR HQ Figure 13 Clicking Create will save the settings and open the page Create new stop. After typing in the name, click the blue Create button. The result of this is shown in Figure 14, where the user must create the different stops on the route plan. Copyright Mobile Industrial Robots Page 19 of 47

20 Figure 14 Inserting stops in the route plan Under the route configuration, different options which defines the driving behavior of the MiR100 can be edited by the user. These are defined below: Mode: Here you can select either Positions or Contacts. If you select Positions, the route drives to locations where the available information is x, y and the orientation. Contacts is also positions with x, y and orientation, but with additional information for that given location. This is used when for example you want the robot to send an or an SMS when it has arrived at a given position. Read section 2.2 for further information about setting up accounts. Loop: o o If the loop flag is enabled, the route will force the MiR100 to continue executing the route and therefore the route will not be cleared from the mission queue. If the loop flag is disabled, the route will only be carried out once, and the route action will be cleared from the mission queue. Go to positions without packages: o o If the flag is enabled, the MiR100 will act like a city bus running a defined route with a number of stops. The MiR100 will drive to the first position on the route, continue to the next position on the route and so forth, even if there are no passengers (packages) to be picked up or delivered to any given position. If the flag is disabled, the MiR100 will act like a mail transportation system, driving to positions, where there are packages to be loaded or unloaded. The MiR100 will not stop at positions if there are no packages to be loaded or unloaded. Use packages types: As default, the Box, Letter and Tool is items which can be placed on the MiR100. The user can define its own item, e.g. PCB board, Medicine or other stuff in any language. o o If this flag is enabled, the MiR100 differentiate between the different packages. If the flag is disabled, there is no difference between the packages. Copyright Mobile Industrial Robots Page 20 of 47

21 From here click the Create new Stop button. The result of this is shown in Figure 9. Figure 15 Create a stop in the route plan. Within the current area, you can use existing positions at different maps, or use the position of MiR100. It is assumed that the current map already has some valid defined positions. Select Use Existing Position by clicking the drop-down menu, see Figure 10. The map (1) chosen is the one called Production Under this map, different positions have been created (2) under the names of Service, Backend gate, Docking position and Ramp respectively. For easy distinguishing maps are written in bold and each position assigned is indented under the given map. Copyright Mobile Industrial Robots Page 21 of 47

22 1 2 Figure 16 Activate the drop-down menu with existing positions in the map. From here the user can select the position you want MiR100 to drive to. In this example, four positions exist called Service, Backend gate, Docking position and Ramp. In order to add them to the route, select the first position from the dropdown menu and click Create. Copyright Mobile Industrial Robots Page 22 of 47

23 Figure 17 Selecting the first position called Service in the dropdown menu Use Existing Position. The result is shown in Figure 12. To add more positions, repeat the process illustrated in Figure 17 with the last existing positions. The result with adding all the four positions is shown in Figure 19. Figure 18 Adding the first position called Service to the route Copyright Mobile Industrial Robots Page 23 of 47

24 Figure 19 All four positions for the route added in the map If you want to change the order of the position, the user can drag and drop the positions around as needed. E.g. if position Service should be in the second row, aim for the icon and drag the given position to a desired row. Now return to the Route menu and make sure to select the route plan which has been created. This is done under Active route plan in the Route menu, see Figure 20. Copyright Mobile Industrial Robots Page 24 of 47

25 Figure 20 Selecting the created route plan After the route plan has been selected, the name of the route plan is written under Active route plan, which is shown in Figure 21. Copyright Mobile Industrial Robots Page 25 of 47

26 Figure 21 Route plan has been selected. Now you can start the route by using the mission interface. To make sure that the mission module is running, see Figure 4. When the mission node is running, the route can be started by clicking Start Route. The result of this is shown in Figure 22 Copyright Mobile Industrial Robots Page 26 of 47

27 Figure 22 When the Start route button has been pressed, status of the mission is continuously updated under Route at the top of the window. Now MiR100 will follow the route plan from the mission interface. From within the main menu, MiR100 is now in mission mode, which is shown in Figure 23 Copyright Mobile Industrial Robots Page 27 of 47

28 Figure 23 Robot has entered mission mode. When MiR100 is running the route mission, MiR100 drives to different positions that are created in the route plan. In order to gain most out of the route functionality, a tablet interface has been developed. The principle is that a tablet is mounted physically at the MiR100. This gives an extra user friendly experience for the end user to be able to operate the MiR100 even without any knowledge about the web interface. For further description of the tablet-interface, please refer to document Tablet interface, which is located in the release folder. Copyright Mobile Industrial Robots Page 28 of 47

29 4 Frequently Asked Questions Question: The route is not started even when I press Start route. Answer: Go to Launch menu and check that it is started? Copyright Mobile Industrial Robots Page 29 of 47

30 5 Changelog Version Date Changes Document created Document released Document updated Moved description about Launch menu to Appendix B. Updated the documentation for version. Added description of the if action Updated the Create mission section Added Wait for Bluetooth action for software release Mission interface changed New feature: Create error contact "Start Mission automatically" is phased out Updated for software release 1.7: Simplification of docking actions Copyright Mobile Industrial Robots Page 30 of 47

31 Appendix A List of actions This appendix describes all actions available when you create a mission. Step Instruction Illustration Wait Sets a time the MiR100 will wait when executed. Time: Sets a time in seconds. If on Battery Percentage The if action makes it possible to check for e.g. battery percentage. The used entries are: Compare: Battery percentage Index: Index: Not used here. Operator: Arithmetic operations Value: Percentage, e.g. 50 for 50%. True: Executing a defined mission list, when the if returns true. False: Executing a defined mission list when the if returns false. Copyright Mobile Industrial Robots Page 31 of 47

32 If on PLC register If on Packages The if action makes it possible to check for e.g. PLC register. The used entries are: Compare: PLC register Index: Integer register between 1 to 100. Double register between 101 to 200. Operator: Arithmetic operations Value: Value for a given register, e.g. 5 True: Executing a defined mission list, when the if returns true. False: Executing a defined mission list when the if returns false. The if action makes it possible to check for e.g. packages. The used entries are: Compare: Packages Index: Is not used here. Operator: Arithmetic operations Value: Value for a how many packages there is. True: Executing a defined mission list, when the if returns true. False: Executing a defined mission list when the if returns false. Copyright Mobile Industrial Robots Page 32 of 47

33 Move To Known Position Move MiR100 to a fixed position. Position: insert known position. Retries (Blocked Path): number of retries to reach its known position. Distance to goal threshold: acceptance distance from position in meters. Note: The position in the dropdown menu, should be available in the given map. Move to position Move MiR100 to a position defined by x,y position and orientation. The 0,0 positions with orientation 0 is created in the map, at the moment the MiR100 is in Mapping mode. X: The coordinate in the horizontal plane of the map. Y: The value in the vertical plane of the map. Retries (Blocked Path): number of retries to reach its known position. Distance to goal threshold: acceptance distance from position in meters. Copyright Mobile Industrial Robots Page 33 of 47

34 The x,y coordinates frame in the map. Note that the relative 0,0 location with 0 degree orientation is based on the initial physically location of the MiR100, when a map was created. Relative Move Sets MiR100 to execute a specific move. X: move MiR100 forward or backward. Positive input is forward; negative input is backward. In meters. Y: Move MiR100 sideways. Fill in an X value to use Y. In meters. Orientation: turn MiR100 in degrees. Max Linear Speed: forward and backward speed. Max speed is 1.5. Max Angular Speed: turn speed. Max speed is 1.5. Collision Detection: Boolean value to detect collision. 1 is on, 0 is off. Note: The collision detection can be set to Off, when it is desired to have the MiR100 e.g. turning around on the center of mass in a lift, where space is tight. This result that the MiR100 will turn until the emergency stop is activated. When the collision detection is On, it means that the MiR100 will try to turn, but if it can detect that there are obstacles nearby, it will wait before turning. Copyright Mobile Industrial Robots Page 34 of 47

35 Docking Is required when MiR100 is to move to a charging station or a V or VL marker. The docking positions must be defined in advance in the Positions menu or Command View before they can be selected for a docking mission. For further details regarding setting docking positions, see documents MiR100 Webinterface User guide or MiR100 Docking station. Charging Action required in order to charge the MiR100. The charging action has 3 entries. Minimum time: The MiR100 will charge until the inserted minutes has elapse. Minimum percentage: The MiR100 will charge until it has reach minimum the inserted percentage. Note: Setting one of the two entries to -1, means FALSE, i.e. it is only the other entries which takes effect, i.e. the MiR100 will wait until the other entry returns TRUE. Setting both entries to Copyright Mobile Industrial Robots Page 35 of 47

36 Switch Map FALSE, by -1 will keep the MiR100 stuck forever in the charging station. Charge until new mission in queue: If False: The MiR100 will charge until the two first entries are TRUE. If there are no more missions to carry out, i.e. the mission queue is empty, the MiR will stop charging. If True: The MiR100 will charge until the two first entries are TRUE. If there are no more missions to carry out, i.e. the mission queue is empty, the MiR will continue charging. Switch from current map to a new map. Map: The new map to operate on. Entry Position: Fixed position MiR100 should drive to. This position needs to be on the old map, and the area the position is on have to be on the new map. Copyright Mobile Industrial Robots Page 36 of 47

37 Play Sound Plays a sound. Sound: Choose a specific sound to play. Duration: number of seconds the chosen sound will be played in. -1 is infinite. Volume: sets a volume for the chosen sound. Show Light Show a color with effects. Light Effect: choose an effect the light will have. Color1: choose a color. Intensity: how intense the colors will be. Timeout: Time the light will run in seconds. -1 is infinite. Color2: Choose a color (Only Fade, Chase, Wave) Load mission list Loads an existing mission. Action list: Choose a specific mission from the existing missions. Note: The Load missionlist can be used to loop a given mission list, by loading itself. Copyright Mobile Industrial Robots Page 37 of 47

38 Bluetooth Relay Wait for Bluetooth Is used when MiR100 needs to use a Bluetooth relay. For further details regarding Bluetooth relay see document Bluetooth Box, which is located in the release folder. Module: Choose an existing Bluetooth relay. Port: Choose a specific port on the chosen relay. Operation: sets a Boolean value whether to turn the chosen relay on or off. 1 is on, 0 is off. Timeout: sets a time in seconds the chosen relay will be on. Turns the chosen relay off when time is met. With the 1.5 version, a Bluetooth Box has 1 input feedback signal, which can be used in a mission, that the MiR will only continue its mission until there is 24V signal into the Bluetooth Box. Module: Choose an existing Bluetooth relay. Port: Choose port 1. Value: Waits until the input feedback signal goes On(High) or Off(Low). Timeout: Wait for defined seconds to Copyright Mobile Industrial Robots Page 38 of 47

39 wait for the feedback signal to be active High. For further details regarding Bluetooth relay see document Bluetooth Box, which is located in the release folder. Set PLC Register Sets a chosen value in a chosen register Register: choose a specific PLC register. Input from is integer, input from is float Wait For PLC Register Value: input integer value Sets a chosen value in a chosen register. Continues to next action when value is found in given register. Register: choose a specific PLC register. Input from is integer, input from is float Value: input integer value Timeout: Sets a time to wait for value in chosen register. If time goes out, next action will be executed. -1 is infinite. Copyright Mobile Industrial Robots Page 39 of 47

40 Create Path Creates a path with a start and end position and 1 to 10 via points. Start Position: an already defined position which the path will start from. Goal Position: an already defined position which the path will end on. Via Position 1-10: up to 10 positions the MiR100 needs to drive through. Copyright Mobile Industrial Robots Page 40 of 47

41 Send E- mail Sends an to a chosen recipient when executed. For further details regarding E- mail and SMS see section and Recipient: Choose an existing to send to. Subject: Insert Subject text in . Send SMS Message: Insert a message that needs to be delivered to the chosen . Sends a SMS to a chosen phone number. For further details regarding SMS see section Recipient: Choose an existing phone number to send to. Route Arrival Action Message: Insert a message that needs to be delivered to the chosen phone number. Defines a wait time (with or without package) at a position in a route. Uses a tablet interface application. For further details regarding the tablet interface see the document Tablet interface Copyright Mobile Industrial Robots Page 41 of 47

42 Default Wait (No package): if there is no package when executed, it sets a time to wait in seconds. Catch Action Default Wait (Package): if there is a package when executed, it sets a time to wait in seconds. If previous action fails, will MiR100 execute another existing mission. Action List: Choose an existing mission. Pickup Trolley Max retries: sets a number of attempts to execute the chosen mission. Lets the MiR100 with hook system drive to a trolley position and pick up the trolley. Position: The position of a trolley, i.e. not a robot position. Trolley: The userdefined trolley type For further details regarding the shelf interface read document Hook Docking which is located within the release folder. Copyright Mobile Industrial Robots Page 42 of 47

43 Place Trolley Lets the MiR100 with the hook system drive with a trolley to a trolley position and release the trolley. Park Trolley Reverse Run UR program Position: The position of a trolley, i.e. not a robot position. Reverse into place: If set to Yes, the MiR100 will reverse the trolley into place. Make sure there is enough space for doing this. See MiR Hook technical documentation for further details. Release trolley: If set to Yes, the robot unhooks the trolley and moves forward about 30 cm. Similar to Place Trolley action with the entry Reverse into place set to True, but without unlocking the trolley with the hook. Runs an.urp file saved on the Universal robot. Program name: <name.urp>. Leave out.urp when you enter the name. The MiR100 will continue, until the given UR program has been executed. For further details regarding the trolley interface read document Hook Docking which is located within the release folder. For further details regarding the UR module see the document UR interface. Copyright Mobile Industrial Robots Page 43 of 47

44 Pickup Shelf Lets the MiR100 dock under a shelf or table and lift the shelf from the ground. Position: The position is under the table or shelf and must be predefined in the Positions menu. Shelf Type: Userdefined shelf type with specifications of length, width, height, bar length, bar distance and offset. Final Movement: makes it possible to specify the movement of the robot after the table has been lifted. Auto, Forward, Backward or None. Auto means that the robot will check both forward and backward for the best suited moving direction. Place Shelf Lets the MiR100 drive to a shelf position carrying a shelf and lower the shelf to the ground. For further details regarding the shelf interface see the document Shelf Docking technical documentation. Position: The shelf position where the MiR should unload the shelf. The position must be predefined in the Positions menu. Final Movement: makes it possible to specify the movement For further details regarding the shelf interface see the document Shelf Docking technical documentation. Copyright Mobile Industrial Robots Page 44 of 47

45 of the robot after the table has been lowered. Auto, Forward, Backward or None. Auto means that the robot will check both forward and backward for the best suited moving direction. Copyright Mobile Industrial Robots Page 45 of 47

46 Appendix B Start the mission mode from Launch menu. From the start menu, go to Service, Configuration and open the Launch menu. This will open the overview of different nodes running on MiR100. Figure 24 Mission node deactivated Find mission and make sure that it is activated. In Figure 27 the mission node is in ready state and may be activated. This is done by clicking the start button. See Figure 28. Figure 25 Mission node activated Copyright Mobile Industrial Robots Page 46 of 47

47 Copyright Mobile Industrial Robots Page 47 of 47