Other Sensors; Startup; Procedure; Joystick - Omron LD-60 User Manual

Other Sensors

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 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 nav-
igation laser during localization. These limit the area on the platform's map that the platform
needs to search.
Bumper
One bumper, with a low-sensing laser, is mounted at the front of the platform, should the
obstacle-avoidance systems fail to detect an obstacle.
Optional user (payload structure) bumpers can be added using the User Bumper connector on
the rear upper core, in the payload bay. There are six pins for front left, center, and right
sensors, and rear right, center, and left sensors. The core connector is provided, but the pay-
load bumpers are user-supplied.

7.7 Startup

Procedure

Press and hold the power ON button for half a second, then release. It takes about a minute for
all the systems to start up and make their various interconnections. If the platform doesn't
start up, try power OFF, check your connections, and then power ON.
Startup is complete when the light discs stop indicating boot (two blue light segments, moving
in opposite directions from 6 o'clock to 12 o'clock and back).
By default, the core, navigation laser, and some auxiliary power start automatically when you
press ON. To change that behavior, or to assign AUX power to your own accessories, modify
their related parameters from the MobilePlanner software. You can also control power from a
client connected with the core.

Joystick

The joystick plugs into the left side of the platform, under the small access panel at the upper-
right corner of the platform. See Location of Parts on the Platform on page 99. This is internally
connected to the joystick port located on the rear side of the core in the payload bay.
Chapter 7: Operation
CAUTION: The joystick should be locked up when not in use, to prevent
unauthorized operation of an AIV.
LD Platform User's Guide, 11970-000 Rev E
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