Logical Barriers; Obstacles; Environmental Hazards - Omron HD-1500 Platform User Manual

Although the AMR's software provides the option of using the map features to keep
the AMR within its designated workspace, poor or improper localization may result in
incorrect path planning. To ensure safety, you must always install physical barriers
where there is a risk of property damage or personal hazard.
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Logical Barriers

In addition to physical barriers, use MobilePlanner to create forbidden areas or lines as logical barriers
on the workspace map to prevent AMRs from closely approaching a fall hazard. These map features
assume proper AMR localization. These restrictions must be continuous so that the AMR cannot plan
a path around the logical barrier. If the AMR is not able to properly localize its current position, it may
enter the forbidden zones. You must always install physical barriers where there is a risk of property
damage or safety hazard.
You can also use the configuration parameters FrontPaddingAtSlowSpeed and FrontPaddingAtFast-
Speed to increase the AMR's safety clearances. This causes the AMR to decelerate as it approaches
a hazard. Refer to Fleet Operations Workspace Core User's Manual (Cat. No. I635) for more informa-
tion.
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Obstacles

If the AMR will be entering high-traffic areas, take appropriate precautions to alert people in those
areas that an AMR might enter. If the traffic consists of other machines, adjust the AMR and the other
machines' parameters to reduce the risk of a collision.
Positive obstacles are those which would block the AMR's path. Detecting positive obstacles is the pri-
mary and recommended use for Side Lasers.
Negative obstacles are voids in the driving area of the AMR, such as downward stairs, loading docks,
or missing floor tiles. Negative obstacle detection with Side Lasers should not be used as the primary
method for avoiding negative obstacles. It is intended to be used as a secondary method of detection.
Primary methods employ traditional safety techniques to aid avoiding negative obstacles, such as
blocking off areas or restricting traffic in dangerous areas.
Negative obstacle detection by the AMR is implemented in software only and does not consist of CAT
3/PLd safety lasers. A test plan should be developed and executed prior to adding new functionality to
equipment that currently exists in a production environment. Perform testing with each specific appli-
cation and configuration to ensure the AMR's safety. Test detection after changing parameters for
each different expected obstacle. Dynamic testing must be completed for any payload design, at field
application speed to ensure AMR safety.
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Environmental Hazards

Environmental hazards are areas where it is unsafe for the AMR to operate. Provide physical barriers
that the AMR can detect accurately with its Safety Laser Scanners so that it does not attempt to drive
near the hazard.
HD-1500 Platform User's Manual (I645)
CAUTION
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