11. Commissioning
MiR250 Shelf Carrier User Guide (en) 03/2021 - v.1.4 ©Copyright 2021: Mobile Industrial Robots A/S.
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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 11.8. 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.
Solution:
Make the glass visible to the safety laser scanners by gluing non-transparent
window film on the glass in the scanner height, 150 to 250 mm, or mark the wall as a
Forbidden zone. Edit the map afterwards in the robot interface and mark the glass as walls
to help the robot localize.
