Autonomy
Auto Mode enables Burro to autonomously cycle through predefined routes without user intervention, ensuring continuous operation. With options for route management and indoor navigation, Burro efficiently performs tasks in various environments.
Training a Route
To begin training a route for Burro, follow these steps:
Start Training
- Tap the button with the route icon in the bottom right corner of the screen.
- Select a “Teach” slot to begin the training process.
Teach the Route
- Burro will follow you while simultaneously recording GPS waypoints and/or visual cues/LiDAR inliers to remember the route during this “teaching” phase.
- Once programmed, Burro will be able to run the route autonomously.
Burro can store and run up to 5 different local routes at any time.
Route Types
There are two primary route types that Burro can utilize:
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Teach & Repeat
- This mode uses GPS, Vision/LiDAR, or both for route navigation.
- Useful for carrying or towing products indoors or outdoors.
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Route to Row
- This combines Teach & Repeat with RowNav.
- Works on GPS and/or Vision in the “walked” section, then switches to vision only (RowNav) inside the “row” (see Slide 14 for details).
Auto Mode Settings
Burro has several Auto Mode settings to enhance its functionality:
Cycle Routes
- When enabled, Burro automatically starts its next route (following numerical order) after a few seconds of arriving at its home location, without user intervention.
- Burro will continue running until it is low on battery or commanded otherwise.
Load Maps
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Burro saves trained or loaded routes in its route slots if the user exits Auto Routes mode or if Burro is turned off.
Saved routes will only remain functional if the base station the routes were trained on has remained surveyed-in (or in Permanent mode) and has not been moved, OR if they were trained on NTRIP.
Movement Options
Point A to Point B Movement
- After a route is programmed, the user has the option to make it behave as a
one-way route instead of the default two-way route:
- Two-Way Route: Burro will travel back to Point A after reaching Point B.
- One-Way Route: Burro will stop at Point B and not return to Point A.
Loops (Continuous Movement)
- To create a loop, the end of the route must be set within 20 ft (~6 m) of its starting point for Burro to “close” the loop and run continuously in one direction.
- Loops can cross over themselves, and additional customizability is possible
through a combination of one-way and two-way routes.
Only one programmed loop can run continuously at a time.
Indoor Navigation
- Indoor routes where GPS is not attainable must rely on vision or LiDAR for localization.
- Indoor towing is only possible with LiDAR localization.
Route to Row (Row Crop Harvest Use)
Use this mode where RowNav is needed to carry products such as grapes, berries, citrus, stone fruit, kiwis, etc., out of the field:
- Press the black Forward (⬇) button after walking the desired path to program Burro to enter the row using RowNav from that spot.