Omron LD Platform, Руководство пользователя

Страница: 95 / 140

Chapter 7: Operation
Indicator Meaning
20V 20 V power is available
12V 12 V power is available
5V 5 V power is available
VBAT Raw battery power is available
Right Column
LAN MAINT The Maintenance Ethernet connector is showing activity
LAN USER The USER LAN connector is showing activity
WLAN The WiFi is showing activity
HD The hard drive is showing activity
Battery and Docking Station Indicators
See Battery Indicators and Controls on page 82 and Docking Station on page 83.
7.6 Sensors
Safety Scanning Laser
The onboard navigation laser is a very precise scanning sensor. The laser provides 500 read-
ings in a 240° field of view, with a typical maximum range of 15 m (50 ft). The laser operates
in a single plane, positioned at 201 mm (7.9 inches) above the floor. In most environments, the
sensor will provide highly-accurate data.
The laser cannot reliably detect glass, mirrors, and other highly-reflective objects. Use caution
when operating the platform in areas that have these types of objects. If the platform will need
to drive close to these objects, we recommend that you use a combination of markings on the
objects (e.g., tape or painted strips), and also use forbidden sectors in the map, so that the plat-
form knows to plan paths safely around these objects.
Sonar
Each sonar pair consists of one emitter and one receiver. The sonar emitters and receivers are
identical physically, but the platform uses them differently. The range is up to 5 m (16 ft),
though the typical accurate range is only about 2 m (10 ft).
The platform’s two rear-facing sonar pairs are for obstacle-sensing while backing up.
The only two times the platform will back up is when docking on the docking station, or when
the bumper has hit an obstacle. In the latter case, the platform will back up just enough to
freely rotate without touching the obstacle.
Other Sensors
Encoders and Gyroscope
Each wheel has an encoder that tells the navigation system how far the wheel has turned, and
in which direction. Each wheel also has a Hall sensor.
11970-000 Rev H1 LD Platform OEM User's Guide 95