Mapping

After installing the robot and charge station on-site, perform mapping to generate the Base Map. This document covers the mapping procedure for general environments and for multi-floor buildings that require elevator use.

General environment mapping

1. Verify the full screen

After on-site installation, connecting to the Base Map Editor displays the screen shown above. Mapping-related buttons are located in the first row of the top toolbar.

Note

During on-site installation, only use the buttons in the first row. The buttons in the lower row (Open, Move, Load All PCD, etc.) are used after mapping is complete, during the data verification stage.

2. Enter the robot ID

Enter the robot number in the Robot ID field. Once the ID is entered, the mapping-related buttons such as Mapping Start and Mapping End become active.

Tip

If you enter digits only, they are automatically converted to the full format. For example, entering 203 is automatically converted to gaemi-1-g50-0203.

3. Click Mapping Start

Clicking the Mapping Start button lets you choose the mapping type:

• Outdoor: outdoor environment mapping
• Indoor: indoor environment mapping

Once you choose the type that matches the environment, the robot switches to “Site Setup” mode through the FMS API and mapping begins.

4. Warning message

A warning message may appear during the robot’s mode transition when mapping starts. This is normal behavior, so you can proceed without any special action.

Note

Even if the warning message appears, the mapping process continues normally. Once the message disappears, proceed to the next step.

5. Verify that mapping is running correctly

When mapping starts successfully, the screen displays the “Recording…” status.

Caution

After the Recording indicator appears, sensor calibration runs for about 30 seconds. Do not move the robot during this time. Moving the robot before calibration finishes significantly degrades mapping quality. Wait 30 seconds before you begin driving the robot.

6. Mapping in progress

While mapping runs, you can watch the point cloud data being generated in real time. Drive the robot freely across the full area you want to map.

Tip

There are no specific constraints on speed or driving pattern. What matters is covering the target area thoroughly, so feel free to follow varied paths.

7. Click Mapping End

After driving through every area to be mapped, click the Mapping End button to finish mapping.

8. Mapping End result

When mapping ends, data upload starts automatically. Once the upload is complete, the robot returns to Waiting mode.

Note

Data upload may take some time depending on the size of the mapping data. Do not turn off the robot or disconnect from the network while the upload is in progress.

Elevator environment mapping

When mapping a multi-floor building, use the elevator to move between floors. Once a Robot ID is entered, the elevator-related buttons appear on the toolbar.

1. Elevator control panel

The elevator control panel has two primary buttons:

Button	Purpose	When to use
Boarded	Notifies that boarding is complete	Click after the robot has fully boarded the elevator
Start Exit	Notifies that exit is starting	Click when exit begins after reaching the destination floor

Caution

• The Boarded and Start Exit buttons must be used only inside the elevator.
• Do not move the robot between clicking Boarded and clicking Start Exit. If the robot moves during that interval, inter-floor registration of the mapping data may fail.

2. Keypad after Boarded

When you click the Boarded button, a keypad appears so you can enter the floor you boarded. The UI mimics a physical keypad and is designed to be intuitive.

3. Enter the floor

Use the keypad to enter the floor you are currently on:

Input method	Description	Example
Above-ground floor	Digits only	3 (3rd floor)
Below-ground floor	B + digits	B3 (3rd basement floor)
Special floor	G (Ground) or R (Rooftop)	G, R
Keyboard input	Use the KB button to switch to virtual keyboard mode	Free-form text input

• DEL: deletes the entered characters one by one.
• Complete: confirms the input.

Tip

You can enter the floor in advance, before boarding the elevator. After boarding, simply press the Complete button to confirm quickly.

Entering special floors

When you need to use special floor notations beyond numeric floors:

• G: enters the Ground floor
• R: enters the Rooftop floor
• KB: switches to virtual keyboard mode for free-form text input (for example, M for Mezzanine, PH for Penthouse)

You can enter up to 4 characters, and the keypad closes automatically when you click outside it.

4. Enter the exit floor

Clicking the Start Exit button displays the same keypad. Use the same floor input method as above to enter the exit floor, then press Complete to confirm.

Tip

Just like the boarding floor, you can enter the exit floor in advance. When you arrive at the destination floor, you can proceed quickly by pressing just the Complete button.

Mapping status indicators

Several visual indicators let you check the current state while mapping is in progress:

State	Indicator	Description
Idle	Green check icon	Idle state before mapping starts
Requesting	Blue spinner	Sending a mode-transition request to FMS
Polling	Yellow spinner + Manual Check button	Waiting for the mode transition (automatic polling every 5 seconds)
Recording	Red ping animation	Mapping data is being recorded
Error	Red triangle + Retry button	An error occurred; a retry is required