LD Cart Transporter User's Guide, 14766-000 Rev B
Page 11 of 190
Chapter 1: Introduction
Figure 1-3. LD Cart Transporter Model Labels
LD Cart Transporter
The transporter is a mobile robot platform, designed for working around people while moving
a cart. It is self-guided and self-charging, with an automated docking station. The transporter
combines hardware and mobile-robotics software to provide an intelligent, mobile platform to
transport your payload on the cart. Its primary guidance uses a safety scanning laser to nav-
igate, comparing the laser readings to a digital map stored on the platform. The laser is backed
up by a gyroscope mounted on the internal core, and encoders and Hall sensors on each drive
wheel.
In addition to the front safety scanning laser, each transporter has two side lasers, for detecting
potential obstacles in its path, a low front laser in the bumper to detect obstacles lower than
the safety scanning laser, and a rear-facing obstacle-detection laser, to ensure that it is safe for
the transporter to back up or turn in place.
For situations that are so dynamic that laser localization becomes difficult, we offer the Acuity
Localization option, which localizes the AIV using an upward-facing camera to recognize over-
head lighting patterns. This would apply to areas where objects, such as pallets or carts, are
moved so frequently that they can’t be mapped, or where they block the laser’s view of fea-
tures that are mapped. This is covered in the LDî ±Platform Peripherals Guide.
Body and Drive
The transporter is relatively small, lightweight, and highly maneuverable. It has a strong alu-
minum chassis and solid construction that makes it very durable.
The platform is a two-wheel, differential-drive vehicle, with spring-loaded passive casters 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 transporter can turn in place.
Safety Scanning Laser
The onboard safety scanning laser is a very precise scanning sensor. The laser provides 500
readings in a 250 degree field of view, with a typical maximum range of 15 m (49.2 ft). The
laser operates in a single plane, positioned at 203 mm (8 in.) above the floor. In most envir-
onments, the sensor will provide highly-accurate data.
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