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Chapter 1: Introduction
This manual covers the setup, operation, and user maintenance of an LD Platform OEM.
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,
navigation software, connectors for interfacing with and powering the payload structure, and
the platform skins (external 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 OEM: Either the LD-60 or LD-90 platform for 60 or 90 kg payloads.
AIV (Autonomous Intelligent Vehicle): A platform 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.
We use the term AIV when talking about controlling or monitoring the full mobile robot with
attached payload structure.
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 OEM is a general-purpose, mobile robot platform, designed to work indoors
and around people. It is self-guided and self-charging, with an automated docking station. The
LD Platform OEM 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.
For situations that are so dynamic that laser localization becomes difficult, we offer the Acuity
Localization option, which localizes the platform using an upward-facing camera to recognize
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LD Platform OEM User's Guide
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