Safety stop system
Safety stops are similar to emergency stops; however, they are triggered by an object being detected
inside of the pre-defined LiDAR safety field. This stop condition will attempt to reset itself every two
seconds once the object has been cleared from the field.
The LiDAR safety fields extend out from each LiDAR safety scanner. The active velocity of the AMR will
determine the size of the safety field to provide adequate stopping distance automatically. To remove the
system from the safety stop state, all conditions that caused the state transition must be cleared.
See the applicable safety configuration for the AMR and the LiDAR operating instructions for details.
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.
Zone-specific behavior
Zones are areas in a map that change the behavior of a robot while it occupies the zone. Certain modes
are only available in certain spaces due to a change of the safety requirements present in each zone.
Robot modes
Robots can select from several modes in which the safety system can operate, determined by the robot
occupying a particular zone type on a map, or by a condition on the map requiring a particular mode
function.
Autonomous mode
Autonomous mode is applied during typical operation in regular transit zones under standard traffic rules.
The applied LiDAR safety field set is dynamically adjusted based on the speed of the robot as reported
through its sensors.
Depending on the speed that the robot is travelling, the safety scanners will select the matching safety
field based upon the encoder input. Each field range has a maximum allowed turning rate.
Only one safety field set at a time will be selected based on robot speed.
Hazard mode
Hazard mode is used when robots must navigate down a narrow pathway, the dimensions of which are
determined by a robot's safety configuration. Robot speed in this mode is limited to 0.3 m/s for safety
considerations. The areas where the robots will be required to operate in hazard mode should be marked,
and people should be trained to avoid the robot when it is moving through area (due to the reduced field
set).
Although hazard mode is designed to allow the robot to travel through narrow corridors, the robot can still
turn freely. Turning is not affected by a safety field when in hazard mode and follows the 0.3 m/s speed
constraint.
In hazard mode, robots will allow for the drive trains to move in opposite directions, allowing the robot to
perform zero point turns or any directional motion that does not violate the 0.3 m/s speed constraint on
either drive train.
Warnings and signage must be respected in these areas.
Docking mode
Docking mode is used when robots dock when transferring payloads or charging. Robot speed in this
mode is limited to 0.3 m/s for safety considerations. The use of human exclusion zones is recommended
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. 15
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