Table of Contents
Advertisement
The LD-250 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:
A low front or toe laser to detect objects below the plane of the main laser.
l
A rear sensor that detects and stops the LD-250 if it senses objects close behind the
l
AMR.
A gyroscope in the LD-250 Core to detect and report LD-250 rotational velocity.
l
An encoder on each drive motor that provides odometry data for the distance traveled
l
by each drive wheel.
LD-250 Localization
Wheel encoders provide the navigation system with odometry information (how far each
wheel has traveled, and in which direction.) In addition, the LD-250 Core contains an internal
gyroscope to track the LD-250's rotational velocity.
The LD-250 analyzes this odometry data together with LIDAR data from its navigation laser to
calculate its position. This process is called localization.
Acuity Localization Option
For dynamic work environments that are difficult for laser localization, Omron offers Acuity
Localization. Acuity Localization uses a camera to detect overhead lights, enabling the AMR to
localize itself in environments where laser localization alone is not an optimal solution. Laser
localization is tolerant of changing environments. However, it becomes difficult if changing fea-
tures exceed 80% of the objects detected by the laser. This includes workspaces such as ware-
houses, where objects such as shipping pallets or rolling carts either change locations often, or
block the laser's view of mapped features. Acuity is also useful when wide-open spaces do not
provide enough features to map for laser localization.
The LD Platform Peripherals User's Guide describes how to install and configure the Acuity
option.
Custom Payload Structures
LD-250 users typically add attachments (a payload structure) to the LD-250 base platform to
customize it for use in specific applications. The LD-250 provides a payload bay that includes
aluminum extruded load bars. T-slots in the load bars provide a strong and adaptable method
of attaching payload structures to the Platform.
A payload structure can be as simple as a crate that contains manufacturing parts or a more
complicated device such as a conveyor or robot arm. The LD-250 Core provides power, logic,
data communication, and safety connections for the payload structure. This includes user con-
nections for warning lights and additional lasers. For more information, see:
Payload Structures on page 77 for information about designing a payload.
l
Connectivity on page 93, for information about available user connectors on the LD-250
l
Core.
20472-000 Rev B
LD-250 Platform User's Guide
Chapter 1: Introduction
13
Advertisement
Table of Contents
