Chapter 6: Acuity Localization; When Acuity Won't Work; Installation Scenarios; Payload Structure Design - Omron LD-60 User Manual

Acuity localization uses a camera to detect overhead lights, enabling the AMR to localize itself
in an environment where laser localization by itself is not an optimal solution.
Laser localization is largely tolerant of changing environments, but it becomes difficult where
more than 80% of the features seen by the laser change. This includes settings such as ware-
houses, where many objects like shipping pallets or rolling carts change locations often, or
which block the laser's view of mapped features. Acuity is also useful when wide-open spaces
don't provide enough features for laser localization.

When Acuity Won't Work

Acuity localization will not work with indirect lighting.
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In general, Acuity localization works if at least three light fixtures can be seen by the
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camera. More is always better. If some of the light bulbs within a light fixture go out, it
should not affect Acuity, as long as there are some lights still on in the fixture.

Installation Scenarios

There are three basic scenarios that affect which sections of this chapter you will need:
Acuity localization has been ordered with a platform and a factory-designed payload
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structure.
Acuity localization has been ordered with a platform, to be installed on a payload struc-
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ture designed by you.
Acuity localization has been ordered as a kit, to be installed as an upgrade to an exist-
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ing platform on a payload structure designed by you.
In the first case:
You will not have to configure any software or import camera calibration, as that will
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have been done at the factory.
The location of the camera assembly will be predetermined, so payload structure design
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is taken care of.
In the second case, the Acuity-related software will be installed at the factory.
In the third case, this entire chapter will be relevant.

Payload Structure Design

The location for the camera needs to provide a flat, level surface at least 57.2 mm (2.25
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in.) in diameter.
The camera lens must be not be obstructed by any other part of the AMR. It has a 140°
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field-of-view, so take care that nothing higher than the camera lens is close beside the
camera.
The mounting location needs to provide a sturdy support for the camera, as any
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Chapter 6: Acuity Localization

LD Platform Peripherals Guide 89