Omron LD-90 - Sensors; Lasers; Sonar

Chapter 7: Operation
7.6 Sensors
Lasers
The LD Platform OEM has two on-board lasers for navigation and safety.
Figure 7-9. LDPlatform OEM Lasers (bumper skin removed), (A) Low Front laser, and (B) Safety Scan-
ning Laser
Safety Scanning Laser
The onboard navigation laser is a very precise scanning sensor that provides 500 readings in
a 240° field of view, with a typical maximum range of 15 m. The laser operates in a single
plane, positioned at 190 mm above the floor. In most environments, the sensor provides
highly-accurate data.
The laser cannot reliably detect glass, mirrors, and other highly-reflective objects. Use caution
when operating the platform in areas that have these types of objects. If the platform will need
to drive close to these objects, we recommend that you use a combination of markings on the
objects (e.g., tape or painted strips), and also use forbidden sectors in the map, so that the plat-
form knows to plan paths safely around these objects.
Low Front Laser
The low front laser, mounted to the front bumper ((A) in the image above), detects obstacles in
front of the robot, such as an empty pallet, which might be too low for the safety scanning
laser to see.
Sonar
Each sonar pair consists of one emitter and one receiver. The sonar emitters and receivers are
identical physically, but the platform uses them differently. The range is up to 5 m, though the
typical accurate range is only about 2 m.
The platform’s two rear-facing sonar pairs are for obstacle-sensing while backing up.
The only two times the platform will back up is when docking on the docking station, or when
the bumper has hit an obstacle. In the latter case, the platform will back up just enough to
freely rotate without touching the obstacle.
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