Charge Station Installation

Charge station installation consists of two main stages. First, set a unique ID on the charge station itself; then register its 3D position and orientation in space using mapping data (PCD). This information is used when the robot automatically docks with the charge station.

Setting the charge station ID

Set the ID while the robot is physically connected (charging) to the charge station. The ID uniquely identifies each charge station and must not collide with any other ID in the system.

1. Acquire the charge station ID

Retrieve the ID currently configured on the charge station. Either the initial default value or an ID previously set through software will be displayed.

2. Check the current ID

Clicking the Get ID button retrieves the ID currently configured on the charge station. For a newly installed charge station, a default value may appear or the ID may be unset.

3. Set the ID

Enter the desired ID in the input field, then click the Set ID button.

Caution

Changing the ID can affect existing configurations that reference the charge station. Change it with care on production systems.

4. Setting succeeded

When the ID is set successfully, a success message appears. We recommend clicking the Get ID button again to confirm the configured ID.

Setting the charge station location

Use the mapping data (PCD) to register the 3D position and orientation of the charge station. Because the robot performs automatic docking based on this information, accurate positioning is critical.

1. Load the dataset

Click the Open button on the toolbar to load the mapping data.

2. Popup window

A popup window appears for selecting a dataset.

3. Select Service Area and Local Time

Select the Service Area where the charge station is installed, as well as the Local Time when mapping was performed, then click the Load Dataset button.

Tip

Choosing data from a time range in which the charge station is clearly captured makes the subsequent positioning work easier.

4. Dataset load complete

Once the dataset is loaded, the keyframe list appears in the left panel. Use the arrow keys (up/down) to step through the keyframes one by one and inspect their point clouds.

5. Load all PCD

If individual keyframes are not enough to locate the charge station, click the Load All PCD button to load the full point cloud at once.

Note

Loading the full PCD can take time depending on the dataset size. Please wait until loading is complete.

6. Loading

The full PCD is being loaded. Depending on the data size, this can take 1 to 2 minutes. Once loading completes, the entire point cloud is displayed in the 3D viewport.

7. Find the charge station

With the full PCD loaded, locate the charge station.

Operation	Action
Left-click drag	Rotate viewpoint
Mouse scroll	Zoom in/out
Right-click drag	Pan viewpoint

Tip

Knowing the approximate installation location of the charge station in advance reduces search time. Since charge stations are often installed near walls, using wall shapes as a reference makes searching more effective.

8. Click Charge+

Clicking the +Charge button on the toolbar changes the cursor to a ’+’ shape. With that cursor, click precisely on the charge station location in the 3D viewport.

9. Verify the 3D model

The 3D model of the charge station appears at the clicked location. Verify that the model’s position and orientation match the actual installation.

10. Fine adjustment

Precisely adjust the position and orientation of the charge station model.

Adjustment	Description
Rotation	Adjusts the orientation (angle) of the charge station
Translation	Moves the position (coordinates) of the charge station

Caution

The charge station’s orientation must exactly match the actual installation direction. If the orientation is off, automatic docking may not work correctly. Adjust carefully while comparing the point cloud with the 3D model.

11. Edge setting

Select the Edge (path segment) where the charge station is installed. An Edge is the path segment the robot uses when approaching the charge station. Specifying the correct Edge ensures the robot approaches docking along the proper route.

12. Confirm Add

After verifying the configured position, orientation, and Edge, click the Add button to finalize the charge station registration.

13. Complete Step

Once every charge station installed on-site has been registered, click the Complete Step button to proceed to the next step.