User manual - Machine Automation Solution - V3R003
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adaptive curve. For example, using the data in the figure, as soon as the operator drives over 5m (
Distance
) with an error
lower than 0.3m (
Error
), the approximation to the guide line will be classified as successful and the display
will begin
capturing the modification of the guide line.
Situation 2
However, this will not be visible to the operator yet. After this initial stage, if the vehicle drives over 5m (
Distance
) with an
error larger than 0.3m (
Error
),
the userʼs intention of modifying the current guide line will be detected and the new trajectory
will be visible along with the old guide line.
Situation 3
If the vehicle drives over 5m (
Distance
) with an error lower than 0.3m (
Error
), it will be detected that the operator deviated
from an obstacle and wished to return to the old guide, so the capture will be finalized and the guide line will be modified,
as will its parallels.
03 - Curve detection
Parameters for filtering (pilot navigation) and smoothing the guide lines obtained when using adaptive guides and curves.
·
Between points
For this parameter, instead of using all the saved points to generate the reference path, the display
will
generate a smoother path by keeping a distance between consecutive points as indicated in the
Between
points
field. High values may prevent closed curves (small radii) from being considered when generating the
final path.
Important
The value of this parameter will only be considered when the
Activate distance filter
option is
selected.
·
Spline points
This parameter smoothes the final trajectory by inserting intermediary points on the curve to be shown to the
operator.
The value does not affect the pilotʼs behavior, however increasing it causes a larger processor load
and slowness in calculating the parallel lines. The recommended value is 3.
·
Noise filter
With this parameter the final path is smoothed by eliminating noise and vibrations obtained while capturing the
desired guide. Reducing this value will yield a smoother path, which will make the pilot perform softer
maneuvers as well. However, the path may be different from expected. Increasing the value, the filtration is
reduced, yielding a path closed to the actual points obtained while capturing the guide. However, noise and
vibrations in the points will not be removed, which may result in abrupt maneuvers.
Important
The value for this field will only be considered when the
Activate noise filter
option is
selected. Typical values vary between 10 and 20.
·
Minimum radius
This value corresponds to the smallest curve radius that can be comfortably made without causing damage to
the vehicle or implement. In this field you can enter a radius value more appropriate for your vehicle. For
example, in generating a new curve, in case there is a trajectory with a radius smaller than this value, the
display
will smooth the affected area to make it possible for the pilot to pass.
Important
Check the vehicleʼs manual for the smallest radius allowed. The minimum allowed for this field
is 1.00, and a typical value is around 10.00.
·
Activate distance filter
If this option is enabled, the device will take into account the
Between points
value, otherwise it will be
ignored.
·
Activate noise filter
If this option is enabled, the device will take into account the
Noise filter
value, otherwise it will be ignored.
