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Transporter User’s Manual. The LD Cart Transporter comes with all the necessary connections made for
engaging and disengaging with carts.
Body and Drive
The LD platform, which is the base platform of the LD Cart Transporter, is relatively small, lightweight, and
highly maneuverable. It has a strong aluminum chassis and solid construction that makes it very durable. It
has an IP rating of IP-40.
The platform is a two-wheeled, differential-drive vehicle, with spring-loaded passive casters at its front and
rear, and independent drive-wheel spring-suspension for balance. Its solid, foam-filled wheels are at the
mid-line of the platform, so that the platform can turn in place.
Safety Scanning Laser
The onboard navigation laser is a very precise scanning sensor. The laser provides 600 readings in a 240
degree field of view, with a typical maximum range of 40 m. The safe sensing range used for the platform’s
default safety protective fields has a maximum radius of 3 m. The laser operates in a single plane, positioned
at 190 mm above the floor.
Glass, mirrors, and other highly-reflective objects cannot be reliably detected by the laser. Caution must be
exercised when operating the AMR in areas that have these types of objects. If the AMR will need to drive in
close proximity of these objects, we recommend that you use a combination of markings on the objects,
such as tape or painted strips, and also use forbidden sectors in the map, so that the AMR knows to plan
paths safely around these objects.
Low Front Laser
This laser is mounted beneath the safety laser and offers a 130 degree viewing angle through a cutout at the
bottom of the front bumper. It detects obstacles that are low and in front of the LD Platform, such as an
empty pallet, which might be too low for the safety scanning laser to see.
Sonar
The LD Platform’s two rear-facing sonar pairs are for obstacle-sensing while backing up. The range is up to
5 m (16 ft), though the typical accurate range is only about 2 m (10 ft). Each pair consists of one emitter and
one receiver. The sonar emitters and receivers are identical physically, but the transporter uses them
differently.
Additional Lasers for LD Platform Cart Transporter
The LD Cart Transporter also has a rear-facing laser that is used during both turning in place and backing
up when the transporter and cart are coupled.
A coupling laser mounted in the transporter coupling plate is used to locate a triangle on the underside of
the cart’s coupling plate. This is used by the transporter to accurately align with the cart, so it can couple
with it.
What's Included - Basic Components
• One fully-assembled LD platform
The platform includes a safety scanning laser, front bumper, and two rear-facing sonar pairs. Each
pair is one transmitter and one receiver.
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