Chapter 1: Introduction; Definitions; Product Description - Omron LD-60 User Manual

Chapter 1: Introduction

This manual covers the setup, operation, and user maintenance of an LD Platform.
Other than the basics, this manual does not cover configuration performed using the software
that comes with the platform. That is covered in the Mobile Robot Software Suite User's Guide.

Definitions

Platform: The most basic part of the robot. It includes the chassis, drive assemblies, sus-
pension, wheels, battery, lasers, sonar, an on-board LD platform core with a built-in gyroscope,
software needed to navigate, connectors for interfacing with and powering the payload struc-
ture, and the platform covers.
Payload Structure: Anything you attach to the platform. This could be as simple as a box for
holding parts or documents that you want transported, or as complicated as a robotic arm that
will be used to pick up parts to transport.
LD Platform: Either the LD-60 or LD-90 platform for 60 or 90 kg payloads.
AIV (Autonomous Intelligent Vehicle): An Omron Adept mobile robot with a payload structure
attached to it. This is your complete mobile robot, which will transport your products, parts, or
data.
When referring to the initial setup, configuration, and connections, we will refer to the plat-
form.
When talking about controlling or monitoring the full mobile robot, with a payload structure
attached, we will refer to the AIV.
Fleet: Two or more AIVs operating in the same workspace.
Enterprise Manager 1100: A system that manages a fleet of AIVs. This includes the Enterprise
Manager appliance and the software that runs on it.

1.1 Product Description

The LD platform is a general-purpose, mobile robot platform, designed for working indoors
and around people. It is self-guided and self-charging, with an automated docking station. The
LD platform is available in two versions, designed to carry loads up to 60 kg (132 lb) for the
LD-60 and 90 kg (198 lb) for the LD-90 platform. Where appropriate, differences between the
models are called out. Otherwise, this manual applies to both platforms.
The platform combines hardware and mobile-robotics software to provide an intelligent,
mobile platform to transport your payload. The platform comes complete with the ability to
know where it is within a workspace, and to navigate safely and autonomously to any access-
ible destination within that workspace, continuously and without human intervention.
Its primary guidance uses a laser to navigate, comparing the laser readings to a digital map
stored on the platform. The laser is backed up by a low front laser, two rear-facing sonar pairs,
a front bumper, a gyroscope mounted on the LD platform core, and encoders and Hall sensors
on each drive wheel.
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