4-5
Workspace
The workspace must be flat, free of clutter and debris, and have adequately wide doorways and corri-
dors to allow navigation by an AMR.
Floors must provide good traction, typical of good walking conditions. Rough or uneven floors can af-
fect safety of the AMR's operation as the lasers' sensing plane is not always parallel to the floor.
If operation is required in areas where an approaching AMR's visibility is obstructed, such as blind cor-
ners and doorways, perform a risk assessment and apply appropriate mitigation techniques according
to applicable standards.
Take measures to keep problematic objects away from the AMR's path and operating area. Some ex-
amples of problematic objects are:
• Transparent doors, walls, or barriers.
• Floors with access panels removed.
• Cables, hoses, etc.
• Highly reflective objects.
• Chain-link fences.
• Overhanging objects.
• Objects that are supported by posts or legs (chairs, desks, ladders).
Obstacle detection tests were conducted for the AMR using the following human analog test pieces:
• A horizontally placed cylinder with a diameter of 200 mm and a length of 600 mm.
• A vertically placed cylinder with a diameter of 70 mm and a length of 400 mm.
Surface reflectance of the cylinders was between 2 and 6 % and optical density was 1.22 (black).
If an obstacle has protrusions outside of the plane of the AMR's Safety Laser Scanner, or indents in
this plane, then the AMR will underestimate the obstacle's size. This will reduce the effectiveness of
the AMR's protective clearances, or in extreme cases, lead to collisions. Optional Side Lasers may be
required to detect obstacles with these features. The AMR's Low Laser mitigates the risk presented by
protrusions near the floor that are below the plane of the Safety Laser Scanner. Optional Side Lasers
may also be required if an overhang or protrusion might cause the AMR to encounter obstacles that
are not visible to the Safety Laser Scanner or the Low Laser.
Make the following considerations when traversing steps or gaps.
• Observe the maximum step and gap traversal details provided in 2-3-1 AMR Environmental Specifi-
cations on page 2-13.
• Frequent driving over steps or gaps will shorten the lifespan of the drivetrain components.
• Avoid steps or ledges taller than the AMR's specified step-traversal ability.
• Steps should have smooth, rounded profiles.
DANGER
The AMR can cause serious injury to personnel or damage to itself or other equip-
ment if it drives off of a ledge, such as a loading dock, or down stairs.
4 Operation
4-7
AMR (Autonomous Mobile Robot) MD-series Platform User's Manual (I681)
4-5 Workspace
4
4-5-1 Physical Barriers
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