11. Commissioning
MiR1350 User Guide (en) 05/2022 - v.1.2 ©Copyright 2021-2022: Mobile Industrial Robots A/S. 153
Shelves
Shelves are often placed in a certain height above the floor on four (or more)
posts and will often appear as dots on a map for the robot. This may cause the
robot to believe that there is enough space (if the posts are far enough apart)
below the shelves to pass through. The robot will then plan a path underneath
the shelves, but when it comes closer, the camera will see the obstacle. This
could result in replanning paths several times a day.
Issue: The robot will only see shelves as dots on the map and believe that it can
make a global plan underneath the shelves.
Solution: Add a Forbidden zone (red) around the shelves.
Figure 11.6. A Forbidden zone covering the shelf area.
Glass
Highly transparent glass may not be detected by the safety laser scanners.
Issue: The robot will not stop before driving into a glass window, door, or other
glass objects.
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