9. Navigation and guidance system
MiR600 User Guide (en) 08/2021 - v.1.0 ©Copyright 2021: Mobile Industrial Robots A/S. 91
Besides preventing collision with low objects placed close to the robot upon movement after
standstill, the proximity sensors can also improve driving performance in the following
situations:
• When the robot is docking, reversing, turning sharply, or pivoting at reduced speeds, the
robot is more likely to detect and avoid low objects. The slower the robot drives, the more
likely the proximity sensors will detect objects outside the scanners' and cameras' fields
of view.
• If the robot is dragging an obstacle below the scanner's plane of view, the proximity
sensors will detect it, and the robot will stop and report that the path is blocked.
NOTICE
Because proximity sensor data is not intended to be used while the robot is
driving, there is a risk that the robot may still collide with low objects when
reversing, turning, or pivoting. Collision with objects may damage the robot or
other assets or lead to interruption of operation.
• Inform relevant personnel that the robot cannot detect lowered forklift
forks while operating, and that personnel must not park forklifts in the
robot's operating area.
• Keep the operating area of the robot clear of unnecessary objects.
The proximity sensors have the following limitations:
• They do not have a long range and are mainly used to detect obstacles placed near the
robot while it is standing still and begins driving.
• They only detect low obstacles around the corners of the robot.
• When the robot is driving, obstacles detected by the proximity sensors are too close for
the robot to stop or avoid. The robot relies on the laser scanners and 3D cameras to
detect obstacles while it is driving.
• The effectiveness of the proximity sensors may be influenced by the shape, material,
reflectivity, and color of obstacles.
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