Documentation HG G-73650ZD | English, Revision 05 | Date: 09.03.2017 | www.goetting-agv.com
98
Chapter 5: Commissioning
7.
Test of the transponder fusion
To test the sensor fusion with transponders, two transponders with the transponder
numbers 10dez und 20dez have to be programmed and placed at a distance of
2 metres. These codes have been chosen deliberately to reveal problems with the
conversion between hexadecimal and decimal and vice versa. Create a transponder
file with these two transponders or download one from the download area:
Link
transponder_default.csv
http://goetting-agv.com/components/73650
.
8.
In this file, transponder 10dez has the co-ordinates X = 0; Y = 0 and transponder
20dez the co-ordinates X = 2000; Y = 0. The results of the following tests will deviate
from the displayed values by a few centimetres, but the +/- signs should match. Oth-
erwise, check the parameters – particularly those affecting the geometry of the
antennas and wheels. If the vehicle now moves manually in a straight line from tran-
sponder 10dez to transponder 20dez and in doing so remains 5 cm to the left of the
transponders and comes to a standstill when the zero point of the vehicle passes
transponder 20dez, the following should be visible in the 'Status Transponder' menu
(the transponder antenna must have read both transponders for this test):
–
Table Result:
Heading approx. 0
o
; X Pos approx. +2.0 m; Y Pos approx. +0.05 m;
Counter 1
–
Table Odometry:
Heading approx. 0
o
; X Pos approx. +2.0 m; Y Pos approx.
+0.05 m; Distance approx. Antenna X Position
Figure 75
Test run 1 at two transponders
9.
The same test once again, only that the transponder antenna passes transponder
10dez 5 cm to the left and transponder 20dez 5 cm to the right. The following should
now appear in the 'Status Transponder' menu:
–
Table Result:
Heading: approx. 357
o
; X Pos: approx. +2.0 m; Y Pos: approx.
+0.05 m; Counter: 2
–
Table Odometry:
Heading: approx. 0
o
; X Pos: approx. +2.0 m; Y Pos: approx. -
0.05 m; Distance: approx. Antenna X Position
Figure 76
Test run 2 at two transponders
X
Y
positive vehicle angle
Wheel 2
Wheel 1
Transponder
10dez
20dez
A
nt
e
nna
X
Y
positive vehicle angle
Wheel 2
Wheel 1
Transponder
10dez
20dez
Ant
enna
