Adept Lynx Platform - Manual (Page 78)

Adept Lynx Platform User's Guide, Rev B
Page 78 of 116
Chapter 6: Operation
6.6 Sensors
Safety Scanning Laser
The onboard safety scanning laser is a very precise scanning sensor. The laser provides 500
readings in a 250 degree field of view, with a typical maximum range of 15 m (49.2 ft). The
laser operates in a single plane, positioned at about 191 mm (7.5 in.) above the floor. In most
environments, the sensor will provide highly-accurate data.
Glass, mirrors, and other highly-reflective objects cannot be reliably detected by the laser. Cau-
tion must be exercised when operating the platform in areas that have these types of objects. If
the platform will need to drive in close proximity of these objects, Adept recommends that you
use a combination of markings on the objects, such as tape or painted strips, and also use for-
bidden sectors in the map, so that the platform knows to plan paths safely around these
objects.
Sonar
Rear-Facing
The Adept Lynx platform’s four rear-facing sonar are for obstacle-sensing while backing up.
The range is up to 5 m (16 ft), though the typical accurate range is only up to 2 m (10 ft). Note
that 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
so that it can rotate without touching the obstacle.
Front-Facing
The platform's front bumper houses four sonar units, for detecting low obstacles.
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.
The Lynx core has a gyroscope mounted on it, to track the platform's rotation.
The combination of rotation and distance traveled are used by the platform to back up the
safety scanning laser during localization. These limit the area on the platform's map that the
platform needs to search.
Bumper
One bumper, with two pairs of sensors, is mounted at the front of the platform, should the
obstacle-avoidance systems fail to detect an obstacle.
Optional user (payload) bumpers can be added using the User Bumper connector on the rear
upper core, in the payload bay.
Vertical Lasers Option
Two vertically-mounted lasers are available as an option. These are typically mounted on the
sides of the payload, to detect objects that protrude into the AIV's path, but but at a height that
is not detected by the safety scanning laser, such as shelves that stick out.