Maps Overview
The Map module lets DFleet understand the track and path configuration of your facility. You configure stations and paths according to each AMR's track setup, enabling AMR navigation to designated destination stations.
Maps are the foundation of AMR navigation. Each map defines the physical layout that AMRs use to determine valid paths, junctions, and station endpoints. Without a properly configured map, AMRs cannot navigate to their target destinations.
Track AMR Map
The Track AMR Map section lists all created maps. Each map entry provides the following operations:
| Operation | Description |
|---|---|
| Open Layout | Open the map layout editor to configure stations and paths |
| Open Annotation | Open the 2D annotation editor for visual reference overlays |
| Open 3D Annotation | Open the 3D annotation editor for 3D visual reference overlays |
| Open Properties | View and edit map properties |
| Clone | Create a duplicate copy of the map |
| Delete | Remove the map permanently |
Additional editors and tools available from the Track AMR Map section:
| Editor / Tool | Purpose |
|---|---|
| New Map Editor | Create a new map from scratch |
| Active Map Editor | Manage which maps are currently active for AMR navigation |
| Teleportation Editor | Configure teleportation points for AMRs transitioning between map layouts |
| Transition Trigger Editor | Set up actions triggered when an AMR passes through a station or changes heading |
| Map Parameters Editor | Define custom speed parameters used by path speed limits |
| Import Map from AGV | Import an existing map directly from a synced AMR |
Track AMR Map Config Panel
The map editor provides a toolbar with the following tools for configuring Track AMR maps:
| Tool | Description |
|---|---|
| Save | Save the current map configuration (requires a soft reboot to take effect) |
| Restore | Restore the previous changeset |
| Select | Drag and select elements on the map |
| Station Placement | Place stations on path endpoints |
| Path Placement | Place paths: Straight, Right-angled, or S-curved |
| Location Hint Zone | Define location hint zones on the map |
| No-rotate Zone | Define zones where AMR rotation is restricted |
| Clear All | Remove all elements from the map |
| Undo / Redo | Undo or redo the last action |
| Zoom In / Out | Adjust the map zoom level |
| Fit Content | Auto-fit the map view to show all content |
| Fullscreen | Toggle fullscreen mode for the map editor |
Path Properties — select a path to configure the following:
| Property | Description |
|---|---|
| Change Flow | Set the direction of travel (one-way directions) |
| Forward / Reverse Motion | Configure motion mode: Free, Force AMR Heading, Force Forward, or Force Reverse |
| Change Bending | Adjust bending for angled or curved paths |
| Speed Limit | Set speed limit: Medium Fast, Medium, Slow, or a custom value in m/s |
| Inherit from Map Parameters | Use speed values defined in the Map Parameters editor |
| Delete Path | Remove the selected path |
Junction Properties — select a junction to configure:
| Property | Description |
|---|---|
| Group | Assign the junction to a group (up to 5 groups available) |
| Toggle Swapping / Via Junction | Enable or disable swapping and via-junction behavior |
| RFID | Configure the RFID tag associated with the junction |
Station Properties — select a station to configure:
| Property | Description |
|---|---|
| Name | Set the station display name |
| Station Heading / Direction | Configure the heading and direction at the station |
| Switch Between Stations | Switch between multiple stations defined at the same point |
| Search References | Search for references to this station across the system |
| Delete | Remove the selected station |
Trackless AMR Map
Configuring a Trackless AMR map is a more involved process compared to Track AMR maps. You must first generate a raw map using the AMR's laser sensor with the Map Creator tool.
To generate a raw map with Map Creator:
- Open the Map Creator tool in the AGV NavWiz system.
- Click Start to begin the mapping process.
- Control the AMR to move through the area you want to map. The laser sensor plots the environment as the AMR moves.
- Once the area is fully covered, click Save & Stop to save the generated raw map.
Raw Map Editor — navigate to Settings > Maps > View Raw Maps > Edit to open the raw map editor. The following tools are available:
| Tool | Shortcut | Description |
|---|---|---|
| Draw Black Line | Alt+1 | Draw a black line on the map |
| Draw Black Hollow Rectangle | Alt+2 | Draw a hollow black rectangle |
| Draw White Rectangle | Alt+3 | Draw a filled white rectangle |
| White Rectangle Behind Black Pixels | Alt+4 | Draw a white rectangle behind existing black pixels |
| Erase | Alt+5 | Erase elements from the map |
| Ruler | Alt+0 | Measure distances on the map |
| Rotate Map | — | Rotate the entire map |
| Resize Canvas | — | Adjust the canvas dimensions |
| Toggle Grid | Alt+G | Show or hide the grid overlay |
| Darken Threshold | — | Adjust the threshold for darkening pixels |
| Zoom Controls | — | Zoom in and out of the map |
Trackless Map Config Panel — similar to the Track AMR map config panel, but with key differences:
| Feature | Description |
|---|---|
| Bezier Paths | Instead of angled or curved paths, trackless maps use Bezier paths for smoother path definition |
| Landmark Placement | Place reflector landmarks used for AMR localization |
| Forbidden Zone | Define forbidden zones used by the Dynamic Path system to restrict AMR movement |
| Layer Panel | Manage map layers for organizing different element types |
| Switch Trackless / Tracked | Toggle the map between Trackless and Tracked AMR mode |
Map Annotation
2D Map Annotations provide visual reference overlays on the map. Annotations are for display purposes only and have no impact on AMR navigation or behavior.
The annotation toolbar provides the following tools:
| Tool | Description |
|---|---|
| Select / Drag | Select and reposition annotation elements |
| Text Annotation | Add a text label to the map |
| Polygon Annotation | Draw a polygon shape on the map |
| Lift Icon | Place a lift icon annotation |
| Robot Arm Icon | Place a robot arm icon annotation |
| Conveyor Icon | Place a conveyor icon annotation |
| Pallet Icon | Place a pallet icon annotation |
| Clear All | Remove all annotations |
| Undo / Redo | Undo or redo the last annotation action |
Text Annotation Properties:
| Property | Options |
|---|---|
| Font Size | XS, S, M, L, XL |
| Edit Content | Modify the text content |
| Delete | Remove the text annotation |
Polygon Annotation Properties:
| Property | Options |
|---|---|
| Color | Red, Green, Blue, Yellow, Black, White |
| Opacity | Value between 0 (fully transparent) and 1 (fully opaque) |
| Delete | Remove the polygon annotation |
Map 3D Annotation
3D Map Annotations provide three-dimensional visual reference overlays. Like 2D annotations, they are for visual reference only and do not affect AMR behavior.
The 3D annotation toolbar provides the following tools:
| Tool | Description |
|---|---|
| Select | Select and manipulate 3D annotation elements |
| Text Annotation | Add a 3D text label |
| Polygon Annotation | Draw a 3D polygon shape |
| Object Annotation | Place 3D objects: Pallet, Railing, Cone, Wall, or custom 3D assets |
| Clear All | Remove all 3D annotations |
| Undo / Redo | Undo or redo the last 3D annotation action |
Map Operations
Several operational tools are available for managing maps beyond the layout editor.
Import Map from AGV — import maps directly from synced AMRs into DFleet.
- Navigate to the Track AMR Map section.
- Click the Import map from AGV button.
- Select the synced AMR to import the map from.
Active Map — the Active Map editor lets you control which maps are currently active for AMR navigation. Tick the maps you want to activate. You can activate multiple maps simultaneously, which is useful for multi-storey buildings where each floor has its own map.
Map Teleportation — essential for trackless AMRs switching between different map layouts, such as passing through a curtain or taking a lift to a different floor.
Teleportation configuration attributes:
| Attribute | Description |
|---|---|
| Start | The starting point of the teleportation |
| End | The destination point of the teleportation |
| Pre-Action | Action performed before the teleportation begins |
| Action | Action performed during the teleportation |
| Align Station | Align the AMR to the destination station orientation |
| Non-stop Transition | AMR transitions without stopping |
| Auto-reset AGV | Automatically reset the AGV state after teleportation |
| Validate RFID | Validate RFID tags during the teleportation |
| Distance Cost | The distance cost assigned to the teleportation path for route calculation |
Map Transition Trigger — activate actions when an AMR passes through a station or changes heading. Transition triggers are configured between two stations at the same junction.
Transition trigger configuration:
| Setting | Description |
|---|---|
| Start / End Heading | Define the heading range that activates the trigger |
| Start / End Action | Actions performed at the start and end of the transition |
| Applicable Motion | Specify which motion types the trigger applies to |
| Cancel Non-stop Transition | Cancel any active non-stop transition when the trigger fires |
Map Parameters — define custom speed parameters in m/s that can be referenced by individual path speed limits. This allows you to set consistent speed values across multiple paths and update them from a single location.