Mobile Robot LD-250 Assembly Instructions, Rev. A
Page 33 of 77
forbidden sectors in the workspace map so that the LD-250 can plan paths to avoid these
objects.
4.1.3 Low Front Laser
The low front laser [Figure3(B)] detects obstacles below the scanning plane of the safety
laser, such as an empty pallet or a human foot. This laser also detects obstacles that might
be significantly wider at the base, such as a column base, where the main safety laser might
detect only the upper portion of the column.
4.2 Rear Sensor
The LD-250 includes a rear-facing sensor that detects obstacles that are close to the rear,
such as person stepping behind the LD-250. The sensor also detects obstacles that the AMR
might encounter when reversing or rotating.
The LD-250's rear sensor consists of an array of individual time-of-flight sensors in three
segments (right, left and center) as shown below.
Figure 4: Rear Sensor: Left (A), Center (B), and Right (C) segments
These sensors are not safety-rated. If the sensor detects an obstacle, the AMR stops, waits
two seconds and then resumes operation under the following conditions:
• The object that the AMR originally detected is no longer detected by the rear sensor
or by supplemental lasers.
• No other obstacles are detected by the AMR's main laser and it can maneuver safely.
For information about cleaning the rear sensor, see: Cleaning the Rear Sensor on page
157 (LD-250 Platform User’s Guide, Rev-B).
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