Adept MobileRobots Pioneer LX, Руководство пользователя

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Pioneer LX User's Guide, Rev. A
Page 40 of 125
Chapter 4: Components and Operation
During autonomous operation using ARNL, if Auto Dock is enabled (via MobileEyes and
"Auto Dock" configuration parameter), the robot can automatically recharge itself when idle or
if at a low state of charge, using the charging station. The robot will navigate to a special Dock
indicator object in the map (place this Dock point approximately 1-2 meters away from the
charging station in the map, pointing towards it), use the laser rangefinder to detect the shape
of the charging station, and then turn around and back onto the charging station to charge.
Note, there may be up to a 10-second delay between when a robot docks and when the charg-
ing LED turns on. If the robot is fully charged, the Charging LED will also turn off.
Powering ON or OFF the robot, or connecting and disconnecting the robot with network and
onboard clients will not disturb the charging state. (Moving the robot will, of course.) The sta-
tion supplies ample power for all onboard systems while charging its battery, so you can con-
tinue operating those systems while charging.
If the robot is powered off, it will turn on automatically when it is pushed onto the charging
station. The platform cannot be turned off while on the charging station.
Figure 4-2. Charging Station
Indicators, Controls, and Connections
The charging station has a power switch and two LEDs:
l
blue indicates that power is available.
l
yellow indicates that a charge is in progress.