Omron LD User Manual

LD Cart Transporter User's Guide, 14766-000 Rev B
Page 12 of 190
Chapter 1: Introduction
Glass, mirrors, and other highly-reflective objects cannot be reliably detected by the laser. Cau-
tion must be exercised when operating the robot in areas that have these types of objects. If the
robot will need to drive in close proximity of these objects, we recommend that you use a com-
bination of markings on the objects, such as tape or painted strips, and also use forbidden sec-
tors in the map, so that the robot knows to plan paths safely around these objects.
Side Lasers
These two lasers are used to detect obstacles that protrude into the robot's path, but may not be
detected by the safety scanning laser.
This is needed when obstacles higher than the safety scanning laser (but low enough to be
obstacles)protrude into the robot‘s path.
Low Front Laser
This laser is mounted to the front bumper. It detects obstacles that are low and in front of the
transporter, such as an empty pallet, which might be too low for the safety scanning laser to
see.
Rear-Facing Laser
This laser gives better coverage of what’s behind the transporter than sonar alone. It is used
during both turning in place and backing up when the transporter and cart are coupled.
Coupling Laser
A 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.
Sonar
The transporter’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 up to 2 m (10 ft). Each pair
consists of one emitter and one receiver. The sonar emitters and receivers are identical phys-
ically, but the transporter uses them differently.
Encoders and Gyroscope
Each wheel has an encoder that tells the navigation system how far the wheel has turned, and
in which direction. Each wheel also has a Hall sensor.
The robot core has a gyroscope mounted on it, to track the platform's rotation.
The combination of rotation and distance traveled are used by the platform to back up the
safety scanning laser during localization. These limit the area on the platform's map that the
platform needs to search when localizing.
What’s Included with an LD Cart Transporter
l
One fully-assembled platform
The platform includes a safety scanning laser, a low front laser, two side lasers, a rear-
facing laser, and two rear-facing sonar pairs. Each pair is one transmitter and one
receiver.

Omron LD Specifications

General

Brand	Omron
Model	LD
Category	Robotics
Language	English