Chapter 1: Introduction
Figure 1-3. LD Platform Cart Transporter Model Labels
LD Platform Cart Transporter
The LD Platform Cart Transporter is a mobile platform, designed for working around people
while moving a cart. It is self-guided and self-charging, with an automated docking station.
The transporter combines hardware and mobile-robotics software to provide an intelligent,
mobile platform to transport your payload on the cart. Its primary guidance uses a safety scan-
ning laser to navigate, comparing the laser readings to a digital map stored on the platform.
The laser is backed up by a gyroscope mounted on the internal core, and encoders and Hall
sensors on each drive wheel.
In addition to the front safety scanning laser, each LD Platform Cart Transporter has two side
lasers, for detecting potential obstacles in its path, a low front laser in the bumper to detect
obstacles lower than the safety scanning laser, and a rear-facing obstacle-detection laser, to
ensure that it is safe for the transporter to back up or turn in place.
For situations that are so dynamic that laser localization becomes difficult, we offer the Acuity
Localization option, which localizes the AMR using an upward-facing camera to recognize
overhead lighting patterns. 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 fea-
tures that are mapped. This is covered in the LDî ±Platform Peripherals Guide.
Body and Drive
The LD Platform Cart Transporter is relatively small, lightweight, and highly maneuverable. It
has a strong aluminum chassis and solid construction that makes it very durable.
The platform is a two-wheel, differential-drive vehicle, with spring-loaded passive casters front
and rear for balance. The drive-wheels have independent spring-suspension, with solid, foam-
filled tires. The wheels are at the mid-line of the platform, so that the platform can turn in
place.
Safety Scanning Laser
The onboard navigation laser is a very precise scanning sensor. The laser provides 500 read-
ings in a 240 degree field of view, with a typical maximum range of 15 m (49.2 ft). The laser
14766-000 Rev H LD Cart Transporter User's Manual 13
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