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• Platform - The base LD-250, including:
o The chassis, drive motors, suspension, wheels and light discs, casters, battery, lasers,
and rear sensors.
o An on-board LD-250 Core with a built-in gyroscope, navigation software, and data and
power connectors for a payload structure.
o An Operator panel, also referred to as the Human-Machine Interface (HMI).
o The LD-250 skins (external covers) and a payload bay for attaching a payload structure.
2.3
Product Description
The LD-250 is a general-purpose mobile robot, designed to work in an indoor industrial
environment and around trained personnel. It is self-guided and self-charging, with an
automated docking station. It has a maximum capacity of 250 kg. Capacity includes the
payload structure and any load carried by that structure.
The LD-250 combines hardware and mobile-robotics software to provide an adaptive,
mobile platform to transport your payload. After it scans physical features in its
environment, the LD-250 navigates safely and autonomously to any accessible destination.
It moves continuously and without human intervention, autonomously recharging itself as
necessary.
The LD-250 uses range data from a Safety Scanning Laser as its primary means of detecting
obstacles and of maintaining an accurate knowledge 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.
• A rear sensor that detects and stops the LD-250 if it senses objects close behind the
AMR.
• A gyroscope in the LD-250 Core to detect and report LD-250 rotation.
• An encoder on each drive motor that provides odometry data for the distance
travelled by each drive wheel.
Wheel encoders provide the navigation system with odometry information (how far each
wheel has travelled, and in which direction). In addition, the LD-250 Core contains an
internal gyroscope to track the LD-250's rotation. The LD-250 analyzes this odometry data
together with LIDAR data from its navigation laser to calculate its position. This process is
called localization.
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 features exceed 80% of the objects detected by the laser. This includes workspaces
such as warehouses, 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
Mobile Robot LD-250 Assembly Instructions, Rev. A
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