Omron LD Manual de usuario

I612-E-02

LD Cart Transporter Mobile Robot

User’s Guide

LD Cart Transporter User's Guide, 14766-000 Rev B

Page 2 of 190

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: techpubs@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.

This manual was originally written in English.

Created in the United States of America

LD Cart Transporter User's Guide, 14766-000 Rev B

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Table of Contents

Chapter 1: Introduction 9

Definitions 9

1.1 Product Description 9

LD Cart Transporter 11

Cart 13

Coupling 14

Optional Components 14

User-Supplied Components / System Requirements 15

1.2 Software Overview 15

Mobile Robot Software Suite 15

SetNetGo 16

1.3 How Can I Get Help? 17

Related Manuals 17

Support 17

Including a DebugInfo File 17

Chapter 2: Safety 21

2.1 Dangers, Warnings, Cautions, and Precautions 21

2.2 What to Do in an Emergency /Abnormal Situation 21

Releasing the Brakes 21

Releasing an E-Stop 22

2.3 User's Responsibilities 22

General Hazards 22

Falling Hazards 23

Electrical Hazards 23

Pinch Hazards 24

Magnetic Field Hazards 24

Qualification of Personnel 25

Payload Movement and Transfer 26

Configurable Warning Buzzer 26

Multi-Vehicle Avoidance 26

Traffic Control 27

Passing Lanes 27

2.4 Environment 27

General Environmental Conditions 27

Public Access 27

Clearance 27

Obstacles 28

2.5 Intended Use 28

Non-Intended Use 28

Robot Modifications 29

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Table of Contents

2.6 Battery Safety 29

2.7 Additional Safety Information 29

Accidental Cart Separation 29

Mobile Robot LDSafety Guide 29

Chapter 3: Setup 31

Overview 31

Tasks 31

3.1 Transport and Storage 32

LD Cart Transporter 32

Battery 32

Standalone Cart 32

3.2 Before Unpacking 33

3.3 Unpacking 33

Battery 33

LD Cart Transporter 35

Repacking for Relocation 38

3.4 Setting Up an LD Cart Transporter 38

Mounting the Side Lasers 38

Rolling the LD Cart Transporter off of the Crate Base 42

Installing the Battery 45

Installing the Docking Station 50

3.5 Installing the Cart Brake Release 55

Installation 56

Adjustment 59

Chapter 4: Configuration 61

4.1 Settings and Configuration 61

Maintenance Ethernet Connection 61

Setting Up Wireless Ethernet 62

4.2 Mapping 64

Setting Up Cart-Parking Goals 65

Marking Cart-Parking Goals on Floor 65

4.3 Configuring a Touchscreen 65

Touchscreen Ethernet Setup 65

Operating Modes 66

Localization Goals 68

Screen Logo 69

Screensaver 70

Display Language 71

Contact Information 72

4.4 Acceleration, Deceleration, and Rotation Limits 72

4.5 Supplemental Information 73

Laser Setup 73

LD Cart Transporter User's Guide, 14766-000 Rev B

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Table of Contents

Chapter 5: Payloads 75

5.1 Safety 75

Drive Warning Light 75

Turn Warning Lights 75

5.2 Considerations 75

Dimensions 75

Pinch Hazard 75

Weight 76

Center of Gravity 76

5.3 Payload-Related Tradeoffs 81

Chapter 6: Connectivity 83

6.1 Required Connections 83

6.2 LD Cart Transporter Connections 83

Core 84

Cart-Specific PCA 85

6.3 Standard Platform Connections 89

Robot Core Front, Upper 90

Robot Core Rear, Upper 97

Internal Robot Core Connections 104

Core Internal Data Pinouts 105

Robot Core Internal Power Pinouts 107

Chapter 7: Operator Interface 109

7.1 Touchscreen 109

Touchscreen Initialization 109

Touchscreen Configuration 110

Screen Top Bar 110

Left Screen Pane 110

Right Screen Pane 112

Center Pane 116

Relocalization 116

Choose Dropoff Mode 116

Patrol Route Mode 119

7.2 Operator Panel 120

E-Stop Button 120

ON Button 121

OFF Button 121

Brake-release (BRAKE)Button 121

Keyswitch 121

LATCH Button 121

UNLATCH Button 121

7.3 Other Controls and Indicators 121

Light Discs and Beacon 121

Robot Core Indicators 126

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Table of Contents

Battery and Docking Station 127

Chapter 8: Operation 129

8.1 Operating Environment 129

Intended Use 129

Clearance 129

Obstacles 129

Environment and Floor 130

Getting Stuck 130

8.2 Typical Operation 131

8.3 Power and Charging 132

Battery Indicators and Controls 132

Docking Station 133

Manually Charging the Battery 135

Balancing the Battery 136

8.4 Startup 137

Procedure 137

Joystick 137

8.5 Working with Carts 138

Goals 138

Operation 138

Cart-Locating 138

Cart Brakes 139

Chapter 9: Options 141

Enterprise Manager 1100 141

MobilePlanner Software (licensed) 141

Joystick 141

Spare Battery 141

Spare Carts 141

Call Buttons/Door Boxes 141

Acuity Localization 142

High-Accuracy Positioning System 142

Chapter 10: Maintenance 143

10.1 Safety Aspects While Performing Maintenance 144

Electrical Hazards 144

Pinch Hazard 145

Magnetic Field Hazards 145

10.2 Lifting the Platform Safely 145

Front Lifting Points 145

Rear Lifting Area 146

10.3 Safety Inspection 147

Warning Devices 147

Warning Labels 147

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Table of Contents

Informative Labels 149

10.4 Cleaning 150

Work Area Maintenance 150

LD Cart Transporter and Cart 151

Tires 151

Casters 151

Axles 151

Lasers 152

Docking Station Contacts 152

10.5 Accessing the Payload Bay 152

Removing Latching Mechanism Cover 152

Removing Top Plate 153

Installing Top Plate 153

Installing Latching Mechanism Cover 153

10.6 Removing and Installing LD Cart Transporter Covers 154

Removing Covers 154

Installing Covers 157

10.7 Replacing Periodic Parts 159

10.8 Replacing Non-Periodic Parts 160

Docking Station Roller and Bearing 160

Safety Scanning Laser 162

Obstacle Detection and Coupling Lasers 163

Rear Sonar Units 166

Sonar Controller 167

Cart Latching Mechanism 168

Light Discs 169

Wheels and Tires 170

Drive Assemblies 172

Platform Casters 173

Cart Casters 175

Cart Brake Release 178

Robot Core 179

E-Stop and Safety Laser Commissioning 181

Chapter 11: Technical Specifications 183

11.1 Dimension Drawings 183

11.2 Specifications 184

LD Cart Transporter Physical 184

LD Cart Transporter Performance 185

Battery Output 186

Cart 187

Docking Station 187

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Chapter 1: Introduction

This manual covers the setup, operation, and user maintenance of an LD Cart Transporter sys-

tem.

The basic configuration performed using the software that comes with the system is covered.

Full details of that configuration are 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, safety scanning laser, obstacle-avoidance lasers, sonar, an on-board

robot core with built-in gyroscope, software needed to navigate, connectors for interfacing with

and powering the Operator panel and cart coupling system, Operator panel, and the platform

covers.

LD Cart Transporter:A Platform with the HMI post (including extended arms)and the coup-

ling plate attached, set up to transport a cart. This is also referred to as just a transporter.

Cart:A cart, on four casters, that can be attached to an LD Cart Transporter, for increasing the

transporter’s payload capacity. The cart has brakes on two casters, which can be released

either by coupling with a transporter, or by using a manual brake-release lever on the cart.

AIV (Autonomous Intelligent Vehicle):The transporter with a cart attached to it. This is the

complete mobile robot, which will transport your payload on the cart.

For the initial setup, configuration, and connections, we will refer to the platform.

For controlling or monitoring the full mobile robot, with a cart attached, we will refer to the

AIV or robot.

1.1 Product Description

The LD Cart Transporter is a general-purpose mobile robot designed for moving a detachable

cart indoors and around people. It is self-guided and self-charging, with an automated docking

station.

The transporter, which moves the cart, comes complete with the ability to know where it is

within your workspace, and to navigate safely and autonomously to any accessible destination

within that workspace, continuously and without human intervention.

The cart is intended to expand the range of payloads that can be moved by an transporter,

both in weight and size.

The LD Cart Transporter is available in two models, designed to transport carts with a total

weight up to 105 kg (231 lb)for the LD-105CT and 130 kg (287 lb) for the LD-130CT platform.

Where appropriate, differences between the models are called out. Otherwise, this manual

applies to both LD Cart Transporters.

LD Cart Transporter User's Guide, 14766-000 Rev B

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Chapter 1: Introduction

Figure 1-1. Cart and LD Cart Transporter, Separate

Figure 1-2. Cart and LD Cart Transporter, Coupled

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