7. Navigation and control system
MiR100 Hook User Guide (en) 10/2020 - v.3.0 ©Copyright 2016-2020: Mobile Industrial Robots A/S. 72
Ultrasound sensors
Four ultrasound sensors are placed on the robot: two at the front or rear and two at the front
of the robot, but with an angle looking to the front sides.
Figure 7.10. Two ultrasound sensors are placed at the front of the robot (left) and two at the rear of the robot
(right).
On robots where the last four digits of the 12-digit serial number are 1335 or lower, the
ultrasound sensors are placed on the front and sides of the robot.
On robots where the last four digits of the 12-digit serial number is 1336 and up, the
ultrasound sensors are placed on the rear and sides of the robot.
The ultrasound sensors are used to detect objects which cannot be seen by the camera or
the laser scanners.
Pos. Minimum range Maximum range
Front 0.01 m 0.2 m
Front side 0.2 m 0.30 m
Rear 0.01 m 0.35 m
Table 7.2.
Range of the ultrasound sensors.
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