Gotting HG G-73650-A, Основы, пусконаладка и программное обеспечение

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Contents
HG G-73650-A
English, Revision 07, Date: 07.03.2018 1
Contents
1 Introduction .......................................................................4
1.1 Virtual tracks .......................................................................... 4
1.2 Suitable and unsuitable vehicle types ...................................... 5
1.3 How it works ........................................................................... 6
1.3.1 System Structure ........................................................................... 6
1.3.2 Steering Controller ........................................................................ 6
1.3.3 Sensor Fusion ............................................................................... 7
1.3.4 Track Controller ............................................................................. 7
1.3.5 Parameterization ........................................................................... 8
1.4 Preconditions / Options ........................................................... 9
2 Guidance Control in Detail ............................................... 10
2.1 Steering controller ................................................................ 10
2.1.1 Segments .................................................................................... 10
2.1.1.1 The segment file ..................................................................... 11
2.1.1.2 Segment search ...................................................................... 13
2.1.1.3 Specifiying the segments ........................................................ 13
2.1.1.4 Transmission of the segments ................................................. 15
2.1.2 Attributes..................................................................................... 15
2.1.3 Offset driving ............................................................................... 15
2.1.4 Calculation of the Steering Angle ................................................. 16
2.1.4.1 Feed Forward Control ............................................................. 17
2.1.4.2 Feed Back Control .................................................................. 17
2.1.5 Velocity Calculation ..................................................................... 18
2.1.6 Driving Modes ............................................................................. 18
2.1.6.1 Idle Mode ............................................................................... 18
2.1.6.2 Modus Parameter Test ............................................................ 19
2.1.6.3 Automatic Mode ...................................................................... 19
2.1.7 Vehicle Options: Fork Lift Vehicle ................................................ 19
2.2 The Internal Sensor Fusion ................................................... 19
2.2.1 Odometric System ....................................................................... 20
2.3 Sensors for navigation .......................................................... 21
2.3.1 The Transponder Antenna ........................................................... 21
2.3.1.1 Transponder System for Positioning Calculation ...................... 21
2.3.1.2 Initialization of the Transponder Sensor Fusion ....................... 22
2.3.1.3 Transponder List ..................................................................... 22
2.3.2 Sky-Trax ..................................................................................... 23
2.4 Vehicle Control Unit .............................................................. 23
3 Interfaces ........................................................................ 25
3.1 CAN Bus .............................................................................. 25