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4.2 Create a Workspace Map
Mbps). If you have multiple access points with overlapping cover, this number is less of a con-
cern.
Payload structures might affect your bandwidth requirements, such as if the AMR supports a
video camera that streams digital video through the AMR's wireless interface. Based on these
possibilities, the bandwidth usage varies by application.
For more information about fleet wireless resources, see the EM2100 Installation Guide.
4.2 Create a Workspace Map
Map Creation Overview
You connect a joystick to the AMR to create the map. The process is described in detail in the
Fleet Operations Workspace Core User's Guide. See: Joystick Controls and Description on page 138.
When you use the LD-250 to create a map:
Put a minimal payload, or preferably no payload on the AMR.
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Map at low linear and rotational speed and acceleration.
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This will make sure that wheel slip is minimal and the map is more accurate.
If the workspace has open stairwells, docks, ledges or other vertical drops, make sure that you
surround such areas with physical barriers. Barriers must be detectable by the safety laser's
scanning plane, which is at a height of 190 mm (7.48 inches) from the floor. Do this before you
begin mapping the workspace.
Map Description
Before you can use your LD-250, you must create a digitized map of its designated workspace.
The map records the shape and location of permanent physical features in the workspace.
These features are walls, corners, doors, columns and large immovable fixtures such as
machines or fixed industrial shelving.
Moving objects (such as fork-lift trucks and carts) or transient objects (such as pallets loaded
with finished goods) do not provide useful mapping data. Erase such objects from the map
after you create it.
Map Laser Scan
The LD-250's Safety Scanning Laser scans the workspace to create the map. The laser scans
only a narrow horizontal plane, parallel to the floor. The scanning plane height is 190 mm
(7.48 inches) above the floor, so the laser cannot detect physical features above or below this
plane, or features that are out of operating range and resolution. This means that some features
are not recorded on the map such as:
Overhanging objects, such as:
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cupboards that are attached to a wall, but at a low height so that there is clear
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space underneath.
Tables with narrow supporting legs.
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Low-lying objects such as a column plinth that is below the scanning plane or a pallet
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that contains no cargo.
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LD-250 Platform User's Guide
20472-000 Rev B
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