5.4002.8501.0 B
5-12 Operating Instructions
Figure 27. Example actions (left side)
Number
Action
Explanation
1
Wall flw L Follow the wall is always the first action, necessary to leave the
charging station.
2
Turn R –> (90 degrees)
Standard turn. Make sure the vehicle will not hit the cubicle
wall after action 3. Else modify the turn.
3
Straight Driving straight is the only option because the distance to a
wall is more than 2 meter.
4
Wall flw R Vehicle will turn right until it hits the cubicle floor and will then
follow the cubicle floor. Although it is easier to clean the left
side first, this is not allowed because cows can get hurt, due to
the opening for the ultrasonic sensor.
5
Wall flw R
Follow the cubicle floor until the wall (bump point).
6
Turn L <– (90 degrees,
1000 mm back)
Standard turn 90 degrees. Modify turn: back 1000 mm before
turning.
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