Hd-1500 Autonomous Navigation; Hd-1500 Localization; Custom Payload Structures - Omron HD-1500 Platform User Manual

1.2 Product Description
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A Power Supply Box
B Cooling Duct Cover
C Electrician Access Box

HD-1500 Autonomous Navigation

The HD-1500 combines hardware and mobile-robotics software to provide an adaptive, mobile-
platform to transport your payload. The HD-1500 is equipped with Natural Feature Nav-
igation system which enables the AMR to navigate, and perform its basic functions
independently and without the need for facility modification. After it scans physical features in
its environment, the HD-1500 navigates safely and autonomously to any accessible des-
tination. It can move continuously and without human intervention, autonomously recharging
itself as necessary.
The HD-1500 uses range data from a Safety Scanning Laser as its primary means of detecting
obstacles and of maintaining an accurate understanding of its location in the environment.
Additionally, it uses data from the following sensors:
Two low lasers at the opposing corners of the AMR platform to detect objects below the
l
plane of the Safety Scanning Lasers.
Gyroscopes that detect and report HD-1500 rotational velocity.
l
Two encoders on each drive motor provide information on the distance traveled by
l
each drive wheel.

HD-1500 Localization

The encoders provide the navigation system with information on how far each wheel has
traveled, and in which direction. In addition, the Gyroscopes track the AMR's rotational velo-
city. The encoder information, combined with gyroscope data, is used to deduce the odometry.
The AMR analyzes this odometry data together with the data received from the safety scan-
ning lasers, low lasers, and the side lasers to calculate its position within the map. This pro-
cess is called localization.

Custom Payload Structures

For most applications, you will want to customize the platform with a payload structure,
attached to the top of the platform, for some combination of picking up, transporting, and drop-
ping off your payload or material. The HD-1500 provides threaded mounting holes for pay-
load attachment. The mounting holes provide a strong and adaptable method of attaching
payload structures to the chassis. A payload structure can be as simple as a crate that contains
manufacturing parts or a more sophisticated device such as a conveyor or robot arm. For more
information on designing a payload structure, see: Payload Structures on page 136.
The platform also provides a variety of interfaces and power connections to support your
application-specific sensors and accessories. For more information on available user con-
nectors, see: Connectivity on page 150.
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Description Callout
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HD-1500 Platform User's Manual
Description
Docking Target
Charging Paddle
Charging Pads x2 - top and bottom
31500-000 Rev A