Omron LD-60 Manuel utilisateur

I611-E-02

LD Mobile Robot Platform

User’s Guide

LD Platform User's Guide, 11970-000 Rev E

Page 2 of 142

The information contained herein is the property of Omron Adept Technologies, Inc., and shall

not be reproduced in whole or in part without prior written approval of Omron Adept Tech-

nologies, Inc. The information herein is subject to change without notice and should not be con-

strued as a commitment by Omron Adept Technologies, Inc. The documentation is periodically

reviewed and revised.

Omron Adept Technologies, Inc., assumes no responsibility for any errors or omissions in the

documentation. Critical evaluation of the documentation by the user is welcomed. Your com-

ments assist us in preparation of future documentation. Please submit your comments to: tech-

pubs@adept.com.

Any trademarks from other companies used in this publication are the property of those

respective companies.

MPEG Layer-3 audio coding technology licensed from Fraunhofer IIS and Thomson.

Created in the United States of America

LD Platform User's Guide, 11970-000 Rev E

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Table of Contents

Chapter 1: Introduction 9

Definitions 9

1.1 Product Description 9

Body and Drive 10

What's Included - Basic Components 10

Optional Components (partial list) 11

User-Supplied Components / System Requirements 12

1.2 Software Overview 12

Mobile Robot Software Suite 12

SetNetGo 14

1.3 How Can I Get Help? 14

Related Manuals 14

Support 14

Including a Debuginfo File 15

Chapter 2: Safety 17

2.1 Dangers, Warnings, Cautions, and Precautions 17

2.2 What to Do in an Emergency /Abnormal Situation 17

Releasing the Brakes 17

Releasing an E-Stop 18

2.3 User's Responsibilities 18

General Hazards 18

Falling Hazards 19

Electrical Hazards 19

Pinch Hazard 20

Magnetic Field Hazards 20

Qualification of Personnel 20

Payload Movement and Transfer 21

Configurable Warning Buzzer 21

Multi-Vehicle Avoidance 22

2.4 Environment 22

General Environmental Conditions 22

Public Access 22

Clearance 22

Obstacles 23

2.5 Intended Use 23

Non-intended Use 23

Robot Modifications 23

2.6 Battery Safety 24

2.7 Additional Safety Information 24

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Table of Contents

Mobile Robot LDSafety Guide 24

Chapter 3: Setup 25

Battery Safety Information 25

Overview 25

Tasks 25

3.1 Transport and Storage 26

Platform 26

Battery 26

3.2 Before Unpacking 26

3.3 Unpacking 27

Battery 27

Platform 28

Repacking for Relocation 32

Installing the Battery 33

Attaching the Payload Structure and Options 37

Installing the Docking Station 38

Chapter 4: Configuration 45

4.1 Settings and Configuration 45

Maintenance Ethernet Connection 45

Setting Up Wireless Ethernet 46

4.2 Mapping 48

4.3 Acceleration, Deceleration, and Rotation Limits 49

4.4 Supplemental Information 50

Laser Setup 50

Chapter 5: Payload Structures 51

5.1 Safety 51

Warning Label 51

Warning Lights 51

Warning Buzzer 51

5.2 Considerations 52

Performance 52

Weight 52

Power Consumption 52

Payload Bay Access 52

Dimensions 52

Center of Gravity 54

5.3 Payload-Related Tradeoffs 57

5.4 Connections Between Platform and Payload Structure 58

Operator Panel 58

Option Connections 58

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Table of Contents

Chapter 6: Connectivity 59

6.1 Required Connections 59

6.2 Payload Bay Connections 59

LD Platform Core Front, Upper 60

LD Platform Core Rear, Upper 66

Internal LD Platform Core Connections 74

Internal Data Pinouts 75

Internal Power Pinouts 77

Chapter 7: Operation 79

7.1 Operating Environment 79

Intended Use 79

Clearance 79

Obstacles 79

Environment and Floor 80

Getting Stuck 80

7.2 Typical Operation 81

7.3 Power and Charging 82

Battery Indicators and Controls 82

Docking Station 83

Manually Charging the Battery 85

Balancing the Battery 86

7.4 Operator Panel 87

Screen 87

E-Stop 88

ON Button 89

OFF Button 89

Brake-Release Button 89

Keyswitch 89

7.5 Other Controls and Indicators 89

Light Discs and Beacon 90

LD Platform Core Indicators 94

Battery and Docking Station Indicators 95

7.6 Sensors 95

Safety Scanning Laser 95

Sonar 95

Other Sensors 96

7.7 Startup 96

Procedure 96

Joystick 96

Chapter 8: Maintenance 99

8.1 Safety Aspects While Performing Maintenance 100

Electrical Hazards 100

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Table of Contents

Pinch Hazard 100

Magnetic Field Hazards 100

8.2 Lifting the Platform Safely 101

Front Lifting Points 101

Rear Lifting Area 102

8.3 Safety Inspection 102

Warning Devices 102

Warning Labels 103

8.4 Cleaning 104

Work Area Maintenance 104

Platform Cleaning 104

8.5 Maintaining and Replacing Batteries 105

Maintaining Batteries 105

Replacing the Battery 105

8.6 Replacing Non-Periodic Parts 110

Docking Station Roller and Bearing 110

Docking Station ACPower Fuse 111

Docking Station Internal Fuse 112

Rear Sonar Units 113

Sonar Controller 113

Light Discs 114

Operator Panel 115

Wheels and Tires 115

Drive Assemblies 117

Front or Rear Casters 120

Safety Scanning Laser 121

Low Front Laser 123

LD Platform Core 124

E-Stop and Safety Laser Commissioning 125

8.7 Accessing the Payload Bay 126

8.8 Removing and Installing Covers 127

Cover Removal 127

Cover Installation 130

Chapter 9: Options 133

Enterprise Manager1100, for multi-AIV coordination 133

MobilePlanner Software (licensed) 133

Joystick 133

Spare Battery 133

Payload Structure Bumpers 133

Call Buttons/Door Boxes 133

Cleanroom Version 134

Acuity Localization 134

Touchscreen 134

Side-mount Lasers 134

High-Accuracy Positioning System 134

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Table of Contents

Warning Buzzer 134

Chapter 10: Technical Specifications 135

10.1 Dimension Drawings 135

10.2 Platform Specifications 136

Physical 136

Performance 137

Sensors 138

Battery Outputs 139

10.3 Docking Station Specifications 140

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Chapter 1: Introduction

This manual covers the setup, operation, and user maintenance of an LD Platform.

Other than the basics, this manual does not cover configuration performed using the software

that comes with the platform. That is covered in the Mobile Robot Software Suite User's Guide.

Definitions

Platform: The most basic part of the robot. It includes the chassis, drive assemblies, sus-

pension, wheels, battery, lasers, sonar, an on-board LD platform core with a built-in gyroscope,

software needed to navigate, connectors for interfacing with and powering the payload struc-

ture, and the platform covers.

Payload Structure: Anything you attach to the platform. This could be as simple as a box for

holding parts or documents that you want transported, or as complicated as a robotic arm that

will be used to pick up parts to transport.

LDPlatform: Either the LD-60 or LD-90 platform for 60 or 90 kg payloads.

AIV (Autonomous Intelligent Vehicle):An Omron Adept mobile robot with a payload structure

attached to it. This is your complete mobile robot, which will transport your products, parts, or

data.

When referring to the initial setup, configuration, and connections, we will refer to the plat-

form.

When talking about controlling or monitoring the full mobile robot, with a payload structure

attached, we will refer to the AIV.

Fleet:Two or more AIVs operating in the same workspace.

Enterprise Manager 1100:A system that manages a fleet of AIVs. This includes the Enterprise

Manager appliance and the software that runs on it.

1.1 Product Description

The LD platform is a general-purpose, mobile robot platform, designed for working indoors

and around people. It is self-guided and self-charging, with an automated docking station. The

LD platform is available in two versions, designed to carry loads up to 60 kg (132 lb)for the

LD-60 and 90 kg (198 lb) for the LD-90 platform. Where appropriate, differences between the

models are called out. Otherwise, this manual applies to both platforms.

The platform combines hardware and mobile-robotics software to provide an intelligent,

mobile platform to transport your payload. The platform comes complete with the ability to

know where it is within a workspace, and to navigate safely and autonomously to any access-

ible destination within that workspace, continuously and without human intervention.

Its primary guidance uses a laser to navigate, comparing the laser readings to a digital map

stored on the platform. The laser is backed up by a low front laser, two rear-facing sonar pairs,

a front bumper, a gyroscope mounted on the LD platform core, and encoders and Hall sensors

on each drive wheel.

LD Platform User's Guide, 11970-000 Rev E

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Chapter 1: Introduction

For situations that are so dynamic that laser localization becomes difficult, we offer the Acuity

Localization option, which localizes the platform using an upward-facing camera to recognize

overhead lighting patterns. This is covered in detail in the LDPlatform Peripherals Guide. This

would apply to areas where objects, such as pallets or carts, are moved so frequently that they

can’t be mapped, or where they block the laser’s view of the mapped features.

For most applications, you will want to customize the platform with a payload structure,

attached to the top of the platform, for some combination of picking up, transporting, and drop-

ping off your parts, samples, or documents. Refer to Payload Structures on page 51 for

guidelines on designing a payload structure.

The platform provides a variety of interfaces and power connections to support your applic-

ation-specific sensors and accessories, mounted on your payload structure. Refer to Con-

nectivity on page 59, for information on the available connectors on the platform.

Body and Drive

The LD platforms are relatively small, lightweight, and highly maneuverable. They have a

strong aluminum chassis and solid construction that make them very durable. They have an

IPrating of IP40.

Each platform is a two-wheel, differential-drive vehicle, with spring-loaded passive casters

front and rear, and independent drive-wheel spring-suspension for balance. Its solid, foam-

filled wheels are at the mid-line of the platform, so that the platform can turn in place.

What's Included - Basic Components

lOne fully-assembled LD platform

The platform includes a navigation laser, front bumper with low front laser, and two

rear-facing sonar pairs. Each pair is one transmitter and one receiver.

lLD Platform Core, which includes an integrated computer, running Advanced Robotics

Automation Management (ARAM) and a microcontroller with MARC firmware. It also

runs the SetNetGo OS. The core is housed inside the platform.

ARAM and MARC firmware and the SetNetGo OS are pre-loaded on the LD platform

core.

A gyroscope is mounted on the core, and each drive wheel has an encoder and a Hall

sensor to complement the navigation laser.

lOne battery

This is shipped separately from the platform, due to air shipping regulations.

lOperator Panel

This includes a screen, an E-Stop button, ON and OFF buttons, a brake-release button,

and a keyswitch, which can be locked, and key removed, in either position. This will

usually be mounted on the user-designed and -built payload structure.

An optional touchscreen is available. See Touchscreen on page 134.

lAutomated docking station

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