The AMR is equipped with LiDAR safety scanners. These safety scanners have a safety detection range
that initiates response of the safety system. Safety scanner input is read directly by the perception system
that relates the AMR to its surroundings when localizing to a map, planning paths, and interacting with
local infrastructure.
There is a protective field around the AMR during normal operation. The size of this field is dynamic and
grows larger as the speed of the robot increases, allowing the AMR to stop safely between obstacles
and itself at all speeds. Although the AMR braking system may be performing correctly and as designed,
it cannot be expected to function as designed and specified should an object suddenly appear in the
path of the AMR and within the designed safe stopping distance. Examples include but are not limited to
objects falling from overhead or a pedestrian stepping into the path of the AMR at the last instant.
Perception sensor layout
The LiDAR perception sensors present on the AMR perform the following functions:
•
Scan the surroundings of the AMR to determine its location or observe features used during
navigation.
•
Provide safety functionality by applying 'stop zones' around the AMR while it is in motion. LiDAR
scanners are wired into the drive wheels directly and are able to size the required stop range based on
the AMR's ground speed and payload, dictating a safe stopping distance if autonomous control does
not direct the AMR to avoid an obstacle or stop before impacting an encountered obstacle.
•
Detect obstacles and either stop the AMR or re-plan a path around the obstacle, if possible.
The LiDAR scanners have restrictions based on AMR speed, allowed turning distances, differential wheel
speeds, and direction, depending on the LiDAR field set (LFS) they are commanded to apply.
The AMR control system can request and confine itself to operate within one of these safety supervisor
modes as dictated by the factory configuration of the LiDAR units. Under most circumstances, the system
can automatically determine, control, and confine itself within LiDAR usage cases.
Safety scanners use infrared (IR) light to detect objects -highly reflective objects or highly matte objects
can create issues with the light being able to detect the object. Standard industrial paints, finishes, and
clothing should not present an issue.
Refer to the specific AMR's sensor layout documentation for details on sensor scanning areas, angles, and
dimensions.
Credentialed OTTO platform users can learn more on the OTTO Support Center (login required). If access
is required, contact OTTO Motors Support and they will be happy to answer any questions or provide
access.
Emergency stop system
There are two types of emergency stops on a robot. When the emergency stop state is triggered, the
system will immediately apply the brakes and cut all power to the drive motors.
Emergency stop condition Description
Physical A user pressing one of the Emergency Stop buttons on the robot
Software A software-triggered emergency stop caused by a system fault or self-diagnostic tool
OTTO 600 - OMM-000117-A
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All other product and company names listed are trademarks or trade names of their respective companies. 14
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