Mobile Robot LD-250 Assembly Instructions, Rev. A
Page 32 of 77
4 Sensors
4.1 Lasers
The LD-250 uses an on-board laser for navigation and safety. A second low front laser
detects obstacles that are too close to the ground for the main laser to detect. An optional
rear-facing laser is also available.
Figure 3:LD-250 lasers
4.1.1 Safety Scanning Laser
The LD-250 Safety Scanning Laser [Figure3(A)] is an OMRON OS32C model. It is a precise
scanning and navigation sensor with the following characteristics:
• Single horizontal plane, parallel to the floor at a height of 190 mm.
• 601 beam readings in a 240° field of view (0.4 degrees per beam).
• Maximum safety protection range of 3 m.
• Typical distance for range readings of 15 m.
4.1.2 Constraints on Laser Operation
The laser cannot reliably detect glass, mirrors, and other highly-reflective objects. Use
caution when operating the LD-250 in areas that contain such objects. If the LD-250 must
operate close to reflective objects, OMRON recommends that you use a combination of
markings on the objects, such as highly visible tape or painted stripes. In addition, specify
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