MIR 1350 - Page 145

11. Commissioning
MiR1350 User Guide (en) 05/2022 - v.1.2 ©Copyright 2021-2022: Mobile Industrial Robots A/S. 145
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If the robot must operate on different floors connected with ramps or
elevators, you must have a map for each floor.
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If you are using an elevator, ask your distributor for the guide How to set up
elevators in MiR Fleet.
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If you are using ramps, connect the maps using transitions—see MiR Robot
Reference Guide, or ask your distributor for the guide How to set up transitions
between maps.
Each site also includes other elements in the interface, such as
missions. For the full list of what is included in a site, see MiRRobot
Reference Guide on the MiRwebsite.
Creating a map
To create a new map, you drive the robot around its intended work environment
while its sensors gather data to generate a map from. This process is known as
mapping.
As the robot moves during mapping, the laser scanners detect physical obstacles,
which are recorded on the map as walls. In the editing afterward, you can
remove all obstacles that should not stay on the map, for example carts or boxes
that were present at the time of recording but will not stay permanently.
Before you map a new location, be sure to do the following preparations:
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Clear the area of dynamic obstacles, such as pallets and carts. Dynamic
obstacles can also be deleted from the map later.
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Ensure that all doors and gates that the robot should be able to go through are
opened before mapping.
Avoid doing the following:
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Starting the mapping with the robot in a very open space.
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Getting the robot stuck close to walls or objects as you will have to push it
away manually.