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Guidance Control in Detail

HG G-73650-A

English, Revision 07, Date: 07.03.2018

21

Trax tag both odometries will be corrected and the difference 
between both is 0 again.

If the encoder is defective, odometry 0 calculates a distance. 
Odometry 2 measures a distance that is too short. Over a certain 
distance a considerable differentiation between both odometries 
exists (inaccuracy from 30% up to 50% of the distance travelled). 
Monitoring will be triggered accordingly and the vehicle stops.

2.3

Sensors for navigation

2.3.1

The Transponder Antenna

The transponder antenna outputs the position and the code of the transponder cur-
rently located underneath the antenna. The position lateral to the direction of travel has

 

an accuracy of approximately 1 cm. The detection range is -250 mm up to +250 mm. 
Reading distance is approximately. 50 to 100 mm. 

The position in direction of travel of the transponder is only transmitted when the center 
of the transponder antenna is crossing the transponder through the position impulse. 
When there is no transponder underneath the antenna, there is no output. It is only al-
lowed to have 1 transponder at a time underneath the antenna. The parameters of the

 

transponder antenna a set via an RS 232 interface which is described in the supplied

 

antenna manual.

2.3.1.1

Transponder System for Positioning Calculation

NOTE!

In order to calculate the position it is usually not sufficient to read 
only one single transponder.

Exception:

 the transponder can only be approached in one 

direction (e.g. transfer station).

The antenna is capable of outputting the position of the transponder with regards to

 

the antenna, however the direction of the antenna with regards to the transponder can-
not be determined. Thus two transponders have to be crossed to determine the posi-
tion and angle of the vehicle. The odometry determines the track between these two

 

transponders. The transponder list enables allocating absolute positions to the individ-
ually measured points (transponders). Thus it is necessary to read two transponders

 

in order to determine the direction of the vehicle.

Depending on the degree of correlation between the measured distance and the po-
sitions of the transponders in the transponder list, the quality of the measurement can

 

be estimated. The odometry is then corrected using the calculated position and the

 

heading angle in relation to the measurement quality. If the quality of the measurement 
is not sufficient, the measurement will be ignored. The limits for the quality determina-
tion are partly definable or partly listed in the corresponding table of the reference

 

manual.

Содержание HG G-73650-A

Страница 1: ...cs Commissioning and Software HG G 73650 A English Revision 07 Dev by M L Date 07 03 2018 Author s RAD A F Götting KG Celler Str 5 D 31275 Lehrte Röddensen Germany Tel 49 0 51 36 80 96 0 Fax 49 0 51 36 80 96 80 eMail techdoc goetting de Internet www goetting de ...

Страница 2: ...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 Odome...

Страница 3: ...Parameter Settings 30 4 3 Using the Terminal Program 30 4 4 Main Menu 31 4 5 A Main Monitor Navigation 32 4 5 1 Monitor Outputs 32 4 5 2 Input Options 35 4 6 B Main Monitor Sensorfusion 35 4 7 C Vehicle Monitor 39 4 8 D Datalogging 39 4 9 E Test Monitor 40 4 9 1 Display outputs 40 4 9 2 Input Options 41 4 10 F Error Logger 42 4 11 G Parameters Navigation 49 4 11 1 A Main 50 4 11 2 B Geometric 52 4...

Страница 4: ...the control unit 65 4 12 1 Status output on the Display 65 4 12 2 Direct input options at the control unit 67 5 Trouble Shooting 69 6 List of Images 71 7 List of Tables 72 8 Essential Information for Reading this Manual 74 9 Copyright and Terms of Liability 75 9 1 Copyright 75 9 2 Exclusion of Liability 75 9 3 Trade Marks and Company Names 75 ...

Страница 5: ...ller where the required track is directly drawn into a layout The vehi cle will follow this virtual track like on a real track or rails The CAD software has to re flect the features of the vehicle used see below in order to make tracking as accurate as possible Figure 1 Example Virtual track with support points The virtual track consists of several segments that define the sections between branche...

Страница 6: ... it a three wheeler Both wheels on the front axle follow a specified steering angle The track guidance controller can also be used for vehicles where the steered wheel is not in the middle e g some fork lift trucks Figure 3 Sketch Suitable vehicle types The further the actual vehicle diverges from the typical three wheeler model e g cen ter pivot steered vehicles such as front loaders where the di...

Страница 7: ... vehicle controller the track guidance controller of fers a high degree of flexibility and is suitable for monitoring safety critical vehicle components 1 3 2 Steering Controller The track guidance controller includes the steering controller which calculates how to guide the vehicle from the current position to follow the track The steering controller s outputs are nominal steering angle nominal v...

Страница 8: ...ased on the data of the connected sen sors e g transponder antennas laser scanners GPS system If required systems with physical guidance tracks can be integrated e g inductive guide wire optical guidance There is a selection of different odometric sensors available such as incremental ro tary encoders Optionally the accuracy and load dependence of the odometry can be enhanced by using the Götting ...

Страница 9: ... directly at the steering controller 1 3 5 Parameterization An RS 232 interface is provided to set the parameters and to commission the vehicle It can be connected to a PC laptop with a serial interface and a terminal program This interface can be used to monitor and record driving conditions e g for debug ging purposes and to set import or export driving parameters Transponder and marker lists as...

Страница 10: ...edundancy If a transponder system is to be used the HG S71720 system can be connected via the CAN bus ID 250 transponders can be used at a reading height of up to 10 cm The Sky Trax System can be used as an alternative or in combination with the transponder system When using the HG 43600 laser scanner at least one incremental encoder must be directly connected to the track guidance controller If t...

Страница 11: ...external sensor fusion is to be used to identify position and angle it can be con nected to the CAN bus The applicable protocol is specified in the reference manual supplied External sensor fusions can be for example laser scanners HG 43600 or GPS HG S57652 Other position identification systems can be used as long as they com ply with the CAN bus protocol see reference manual 2 1 Steering controll...

Страница 12: ...t BRTool also allows you to directly edit individual support points and their critical attributes such as veloc ity without having access to CAD6 Each row of the segment file represents one support point It contains the support point s coordinates two velocities and an attribute field 3 304 8920 2164 10 10 0x00000000 3 305 8920 1914 5 10 0x00000000 3 306 8920 1665 1 10 0x00000002 4 1 8920 1665 10 ...

Страница 13: ...that a continual velocity profile is created Only at the end of the last segment or if the direction of travel changes or an error occurs will the velocity be set to 0 NOTE Always allow the velocity to end with 1 because if you pick 0 the vehicle will stop before reaching the end of the segment If the velocity is negative the vehicle travels backwarts on the segment The vehicle always moves toward...

Страница 14: ...re transmitted as a segment listing in box 0x195 to the vehicle control unit If the segment search bit is set to 0 the current segments will be transmittet in the segment list of box 0x195 2 1 1 3 Specifiying the segments The vehicle control unit specifies the segments to the steering controller via CAN bus For testing purposes they can also be specified via a terminal program or the key board To ...

Страница 15: ... the segments consecutively the terminal position of one segment always has to be the starting position of the next one Before Example Segment number 33 just processed After FIFO Segment FIFO Segment 0 33 0 10 1 10 1 17 2 17 2 105 3 105 3 255 4 255 4 255 5 255 5 255 6 255 6 255 7 255 7 255 Table 2 Example Shifting of segments part I Before After FIFO Segment FIFO Segment 0 10 Segment number 55 rel...

Страница 16: ...ways has to be transferred in ascending order To prevent double transmission within 50 ms one message would get lost and the whole table would be invalid there is the toggle bit If the vehicle controller sends a box the status of the first bit in byte 1 of the CAN box will be changed previously The next box should not be transmitted before Box 0x195 response of the steering controller has reached ...

Страница 17: ... The offset option will be released via the attributes offset left 0x00000400 and offset right 0x00000200 in the segment The offset will be released via CAN bus in message 0x196 byte 5 bit 2 switching right and bit 3 switching left If this attribute is canceled while the vehicle still moves to the side the vehicle stops with an error message Therefore a free attribute should mark the end of the of...

Страница 18: ...on a circle the feed forward control calculates a steering angle that adjusts the steered wheel tangentially towards the track In an ideal situation the vehicle would exactly drive around this circle 2 1 4 2 Feed Back Control The feed back control steers the vehicle back to the intended course At first the error in the vehicle position will be determined Figure 12 Feed back control This error cons...

Страница 19: ...he two support point velocities velocity endpoint or velocity connection is se lected will depend on whether the vehicle shall stop at the segment s end or not Once the direction of travel is reverted from forward to backward or vice versa the velocity endpoint is selected Also if the course has a sharp bend at its end or terminates completely the velocity endpoint is selected For some vehicles va...

Страница 20: ... specifications for guid ed vehicles such as triggering an emergency stop The most common application is a fork lift vehicle stapler Further characteristics maximum steering angle maximum velocity operation with a trailer or articulated steering can be generated upon re quest See our manual for a comprehensive list of pre defined vehicle options 2 2 The Internal Sensor Fusion The internal sensor f...

Страница 21: ...istance travelled At the next transponder Sky Number Description Advantages Disadvantages 0 There are 2 monitored wheels on 1 fixed axle Encoder 1 measures the rotations of the left wheel Encoder 2 measures the rotations of the right wheel Advantage simple structure Disadvantage load dependent if the vehicle has airfillled rubber tires 1 There are 2 monitored wheels on 1 fixed axle The alteration ...

Страница 22: ...a set via an RS 232 interface which is described in the supplied antenna manual 2 3 1 1 Transponder System for Positioning Calculation NOTE In order to calculate the position it is usually not sufficient to read only one single transponder Exception the transponder can only be approached in one direction e g transfer station The antenna is capable of outputting the position of the transponder with...

Страница 23: ...dingly and the start heading is recorded in 1 100o A start transponder is only evaluated directly after the system has been switched on 2 The vehicle crosses several transponders After the first transponder a position cannot yet be calculated After the second transponder the position and head ing can be calculated After the third transponder the position is confirmed and the accuracy is set to a g...

Страница 24: ...o modem G 76431 via RS 232 ethernet interface of the HG 61430 is not yet available The WLAN radio modem offers the additional advantage that the im ages captured by the camera can also be displayed on a stationary controller This facilitates an easy parameterization of the camera One disadvantage of the Sky Trax System is the great distance between the tag and the camera The further away the tag i...

Страница 25: ...ol can be directly controlled by the vehicle control unit In addition to the serial interfaces 4 IO channels are available The configuration de pends on the set vehicle option For most vehicle options IO1 is the input from the po sition impulse of the transponder antenna IO4 is the output for emergency stop The number of in and outputs can be increased by an optional IO extension by IFM see sectio...

Страница 26: ...reference manual 3 1 1 CAN 1 Interface 1 is responsible for the communication of general functions of the steering controller These are status information of the steering controller steering angle nominal velocity etc position output of internal sensor fusion communication with vehicle control unit segments status of vehicle etc communication with transponder antenna communication with gyro commun...

Страница 27: ...d baud rate 8 bit no parity and 1 stop bit The following protocols can be configured via parameters 3 4 3 SIO 3 SIO3 is an adjustable RS 232 interface with the following default values baud rate 8 bit no parity and 1 stop bit The following protocols can be selected with parameters Name Description Camera Connection of a PC for performing edge detection with a PMD camera com pany internal use Remot...

Страница 28: ...hicle functions via keys recording of the current data in order to prepare them for import into Excel import export and editing of parameters import export and editing of segments import export and display of transponders Sky Trax tags 3 6 IO 1 to 4 The configuration depends on the pre set vehicle options In most cases IO1 is used as the position impulse input from the transponder antenna and IO4 ...

Страница 29: ...trol unit 4 1 Commissioning of Communication Internal system communication between the components is normally done via CAN bus Therefore it is recommended to use a corresponding CAN adapter and a CAN display program for example Peak CAN Bus Adapter and PCAN Explorer Figure 13 PCAN explorer displaying messages of the steering controller When switched off the resistance of the CAN bus has to be meas...

Страница 30: ... the Hyper Terminal software is installed on your system This is im portant as it is not necessarily part of the Windows default installation If it is not in stalled it can be easily added later on Therefore the original Microsoft operating system installation CD is required The installation process is as follows 1 Open the system control in the picture Windows 95 Figure 14 Add Hyper Terminal to t...

Страница 31: ...nal 4 3 Using the Terminal Program Starten Sie HyperTerminal auf dem PC und verbinden Sie den entspre Start Hyper Terminal on your PC and connect the corresponding COM port to the connector Terminal on the control unit HG 61430 Switch on control unit HG 64130 and wait until the last message from the operating system is visible Subsequently fill in code 314159 and confirm with abgeschlos sen werden...

Страница 32: ...all further parameter menus The lower section of the menus is for saving and loading the parameters Here it is pos sible to transmit data from to HG 61430 Users also have the option to view the data Main Menu HG73650V10 04 14 05 09 Kompilat Jun 03 2009 A Main Monitor Navigation B Main Monitor Sensorfusion C Vehicle Monitor D Datalogging E Test Monitor F Errorlogger G Parameters Navigation H Load P...

Страница 33: ...f the vehicle meters Speed Current speed of vehicle meters second Steer Current steering angle of vehicle degrees Table 10 Main Monitor Navigation Section Vehicle Main Monitor Navigation Vehicle Target Deviation Angle 0 00 Angle 0 00 Angle 0 00 Pos X 0 00 m Pos X 0 00 m Diag 0 00 m Pos Y 0 00 m Pos Y 0 00 m Axis m Speed 0 00 m s Speed 0 00 m s Speed 0 00 m s Steer 0 00 Steer 0 00 Steer 0 00 Front ...

Страница 34: ...scription Unit Angle Deviation of the heading of the vehicle degrees Diag Lateral displacement of the vehicle meters Axis Longitudinal deviation of the vehicle meters Speed Error in velocity meters second Steer Error in steering angle degrees Front Deviation of the front axle of the vehicle meters Rear Deviation of the rear axle of the vehicle meters Accuracy Estimated position error meters Table ...

Страница 35: ...t of the second support point of the segment Start is displayed Between point 2 and 3 the status is Start 1 Between the last point and the second last point the status is End 1 Once the last point has been crossed the status is End For all other sections the status is middle Name Description Vehicle Bit coded vehicle error see reference manual Condition Error of automatic mode see reference manual...

Страница 36: ...ffset I Drive no offset L Drive right offset K Switch on convoy mode if available for the used vehicle model C Toggle release of central control unit R Reset of default values for vehicle during vehicle simulation Table 17 Main Monitor Navigation Input options Main Monitor Sensorfusion Antenna1 Antenna2 Odometrie Status 0 Status 0 Status 0 Code 0 Code 0 Angle 0 00 Delta Y 0 000 m Delta Y 0 000 m P...

Страница 37: ...from the transponder list meters Table 18 Main Monitor Sensorfusion Section antenna 1 Name Description Unit Status Bit coded antenna status see reference manual Code Read transponder code Delta Y Position of the transponder underneath the antenna in Y direction Sum Vo Signal strengthof the transponder a measure for Transponder signal strength has to be 400 Current Current consumption of the transm...

Страница 38: ...ast transponder crossed by antenna 1 meters Dist Distance traveled since capturing the last transponder meters Table 21 Main Monitor Sensorfusion Section odometry 1 Name Description Unit Angle Heading of the vehicle relative to the last transponder crossed by antenna 2 degrees Pos X X Position of the vehicle relative to the last transponder crossed by antenna 2 meters Pos Y Y Position of the vehic...

Страница 39: ...osition of the Sky Trax System meters Right Calculated Y Position of the Sky Trax System Name Description Unit Angle S Deviation between the previous heading angle of the vehicle and the last single measurement degrees Dev X S Deviation between the previous vehicle position in X direction and the last single measurement meters Dev Y S Deviation between the previous vehicle position in Y direction ...

Страница 40: ...data applying the terminal program Which data is logged can be selected in the corresponding parameter menu As the selec tion of output values depends on the parameters these values are described in chap ter 4 11 9 I Datalogging Parameterization of the output For the process of data logging first press button in the main menu Subsequently the following window will be displayed Figure 18 Screenshot...

Страница 41: ...ng commissioning in order to test the interfaces and functions of the vehicle Figure 19 Screenshot Test Monitor 4 9 1 Display outputs Position indicates the position of the vehicle Name Description Unit Angle Heading of the vehicle mathematically positive degrees Pos X X Position of the vehicle meters Pos Y Y Position of the vehicle meters Table 27 Test Monitor Section Position Parameter Test Posi...

Страница 42: ...Target Nominal steering angle degrees Speed Aktual Actual velocity meters second Speed Target Nominal velocity meters second Output Output of the velocity regulator P P Portion of the velocity regulator I I Portion of the velocity regulator D D Portion of the velocity regulator Rampe Acceleration ramp Poti Control of the digital potentiometer if available in the selected vehicle option Table 29 Te...

Страница 43: ...e variables will be recorded see Table 31 on page 43 at the time of a transponder position impulse This limits the possibility of troubleshooting for positioning and it only works together with a transponder system To record data button for Error logger in the main menu has to be pressed first Then the following window will open Figure 20 Screenshot F Error Logger Then select Hyperterminal Transfe...

Страница 44: ...D t_x_1 Transponder position underneath antenna 1 in X direction m This position will be loaded via the code taken from the transponder table E t_y_1 Transponder position underneath antenna 1 in Y direction m This position will be loaded via the code taken from the transponder table F t_x_2 Transponder position beneath antenna 2 in X direc tion m This position will be loaded via the code taken fro...

Страница 45: ...sponder to the previously read transponder based on odometry V faktor_M Odometry and antenna offsets in longitudinal direc tion W faktor_N Odometry and antenna offsets in lateral direction X Winkel_V_ONS Angle calculated with factor_M and factor_N o Y Winkel_Tr Angle calculation between current and latest transponder based on the values in the transponder table Z Odo_Rechnung_1 dW_Neu Odometry bas...

Страница 46: ...metry based X position for antenna 2 since last transponder m AN Odo_Rechnung_2a dY_Neu Odometry based Y position for antenna2 since last transponder m AO Odo_Rechnung_2a dSumme_Weg Odometry based distance for antenna 2 since last transponder m AP Calc_counter Counts the number of calculations already carried out AQ Int1_counter Counts the number of position impulses of antenna 1 AR Int2_counter C...

Страница 47: ...e of the last transponder read by antenna 1 BC last_t_dy_2 Position of the last transponder lateral to direction of travel underneath antenna 2 m BD last_t_code_2 Transponder code of the last transponder read by antenna 2 BE Fehler_Counter_5 Error counter for single measurements with antenna 1 Constant everything OK 1 distance of transponders does not fit 10 direction not OK parameter Distance of ...

Страница 48: ..._offset_x_1 Offset in X direction of transponder antenna 1 to the vehicle s zero point BO last_t_offset_y_1 T_offset_y_1 of the last transponder BP t_offset_y_1 Offset in Y direction and lateral transponder distance of the transponder antenna 1 to the vehicle s zero point BQ last_t_x_2 t_x_2 of the last transponder BR last_t_y_2 t_y_2 of the last transponder BS last_t_offset_x_2 t_offset_x_2 of th...

Страница 49: ...Posi_Ant_1 Telegram counter antenna 1 A maximum of 3 telegrams between actual position impulse and telegram listed position impulse are allowed Starts after position impulse with 3 and counts down CJ Warte_Posi_Ant_2 Telegram counter antenna 2 A maximum of 3 telegrams between actual position impulse and telegram listed position impulse are allowed Starts after position impulse with 3 and counts do...

Страница 50: ... 0 25 m CR OdodSumme_Weg Distance since last used transponder CS Genauigkeit Estimated position accuracy CT Guete_Messung Estimated quality of measurement CU Guete_Position Estimated quality of position in odometry CV Guete_Position_Weg Estimated quality of position in odometry influenced by the distance covered CW Gewichtung Intensity of influence of the calculated position of odometry CX Positio...

Страница 51: ...or all baud rates the parameters are 8 data bits no parity one stop bit E RS232 3 Protocol Protocol of the serial interface 3 Laser scanner Götting laser scanner Sky Trax Sky Trax camera SICK position pre processed SICK position Table 32 Parameters Navigation Main Menu part 1 of 3 Main Menue Parameter Menue Main Program Variables A Vehicle Option current Stapler B Vehicle Number current 0 C RS232 ...

Страница 52: ...Daimler CAN Fendt J CAN 1 Baudrate Baud Rate of CAN interface 100k 125k 250k 500k and 10000k are possible K CAN 2 Protokoll Protocol CAN 2 the following protocols are available Ser CAN steering servo Berger Lahr Lenze Las Götting laser scanner Kni Articulation angle sensor Kam Götting optical line tracker camera Rem Remote control via CAN L CAN 2 Baudrate Baud Rate of CAN interface 2 100k 125k 250...

Страница 53: ...ight wheel and centre of left wheel C Raddurchmesser Links Effective diameter of the left wheel at a given resolution of the encoder If the encoder rotates with the same rotational speed as the wheel then the effective diameter is the same as the wheel diameter If the rotational speed is different e g encoder runs on the inner side the ratio of the rotational speed has to be conside red for effect...

Страница 54: ... X Offset between the center of the symmetrical axis and the transponder antenna 2 in X direction of the vehicle coordinate sys tem I Antenne 2 Y Offset between the center of the symmetrical axis and the transponder antenna 2 in Y direction of the vehicle coordinate sys tem J Versatz Lenkung It is possible to set an offset if the steering is not located in the center of the vehicle e g for some of...

Страница 55: ...h traveled meter the accuracy decreases E g if a distance of 10 meters shall be allowed without Transponder reading the value 0 5 meters code 16 has to be set in the parameters If 0 01 meters is set code 15 1 meter is allowed If 0 02 meters is set code 14 2 meters are allowed with 0 03 meters set the vehicle will be allowed to travel 3 meters etc For the sensor fusion it is important that the accu...

Страница 56: ...HUNGS_UMSCHALT 0 C Accuracy Track 1 Minimal accuracy of the position for automatic operation if the attribute is ATTRIBUT_ABWEICHUNGS_UMSCHALT 1 D Accuracy Operating Minimal accuracy of the position for starting automatic operation E Deviation 0 Maximal allowed deviation between actual and target position for automatic operation if the attribute is ATTRIBUT_GENAUIGKEITS_UMSCHALT 0 F Deviation 1 Ma...

Страница 57: ...4 of the maximal steering angle measure the circle diameter and calculate the theoretical steering angle with arctangent axle distance curve radius 6 Repeat points 2 through 5 for the right turn 7 Display the theoretical and the actual steering angles in a point diagram 8 Then insert a 2nd degree polynomic trend line and have the equation dis played 9 The above listed steps lead to the diagram bel...

Страница 58: ...rs A D P PI or PDT1 The output of the controller can be limited via the parameters G and H This control ler is only used for some vehicles for special tasks 2 The second part is the actual feed back controller of the steering controller Nor mally the vehicle is steered by this controller It works on straight lines only cor nering is achieved via overlaying a curve feed forward control The controll...

Страница 59: ... part of the steering angle controller applicable for the following vehicle options ABU ABE see refe rence manual E Speed Comp Fix Constant proportion of the gradient of the steering angle ramp in o 50ms The steering angle ramp is only used with guide wire sensors or in parameter test mode Table 36 Parameters Navigation Steering Controller part 1 of 2 Main Menue Parameter Menue Angle Controller Va...

Страница 60: ...the point of the nominal track to which the steered wheels are directed at second part of the steering angle controller J forward dis Var Velocity dependent part of the track from the intersection point of the vehicle s symmetry axis with the nominal track up to the point of the nominal track to which the steered wheels are directed at second part of the steering angle controller K Approach Lim Fi...

Страница 61: ...it Lower limit of the speed controller first part of the steering angle controller H higher Limit Upper limit of the speed controller first part of the steering angle controller I I Max Sets maximum permissible value of the integral proportion of the controller J I Min Sets minimum value of the integral proportion of the controller Table 37 Parameters Navigation Speed Controller part 1 of 2 Main M...

Страница 62: ... too high until the brakes are engaged Q Rampe For some vehicle options velocity is output via a velocity ramp func tion This parameter corresponds to the increment by which the tar get velocity shall be incremented or decremented every 50ms R V Max Vorwaerts Limitation of the forward speed for those vehicles using a velocity ramp Key Name Description Table 37 Parameters Navigation Speed Controlle...

Страница 63: ...lta X Pos Max Maximum permissible difference of the X position between primary odometry and secondary odometry F Delta Y Pos Max Maximum permissible difference of the Y position between primary odometry and secondary odometry G Delta Posi Max Maximum permissible difference between odometry based transponder positions and the positions entered in the transponder list H Max Tol Tr ONS Maximum permis...

Страница 64: ...rimary odometry Should large differences between primary and secondary odometry arise see D E and F the accuracy of the internal sensor fusion will be set to a poor value and the vehicle stops Therefore defective sen sors can be detected N Delta Posi Max P Maximum permissible differencebetween odometry based transponder positions and the positions provided in the transponder list in percent O Tran...

Страница 65: ...e 1 0 3 Achs Position 0 J Odometrie 2 0 4 Hilfs Position 0 K Odometrie Rechnung 1 0 5 Ziel Position 0 L Odometrie Rechnung 2 0 6 Abweichungen 0 M Odometrie Lenkung 0 7 Fehler 0 N Transponderantenne 1 0 8 Lenkwinkel 0 O Transponderantenne 2 0 9 Stuetzpunkt 0 P Voraussetzungen 0 A Segmente Rx 0 Q Genauigkeiten 0 B Segmente Tx 0 R Gyro 0 C Richtung 0 S Gewichtungen 0 D Genauigkeit 0 T PMD Ausgabe 0 E...

Страница 66: ...ng the password only the displayed values are avail able 4 12 1 Status output on the Display The section Sensorfusion provide the following data Name Description Unit Winkel Angle of vehicle odometry o Position X X position of vehicle odometry m Position Y Y position of vehicle odometry m Geschw Velocity of vehicle odometry m s Genauigkeit On the left accuracy of sensor fusion On the right travele...

Страница 67: ...ion error code in the reference manual Winkel Feh Error of heading o Abweichung Lateral displacement to the segment m Table 40 Display Control Unit Section Bahnregler Name Description Unit Winkel Set angle of the steering controller o Position X Target position of the steering controller in X direction m Position Y Target position of the steering controller in Y direction m Geschw Target velocity ...

Страница 68: ...ntroller next upcoming segment Right segment 1 processed by the steering controller next upcoming segment Segment 2 Left segment 2 preset by the vehicle controller next segment after next Right segment 2 processed by the steering controller next segment after next Segment 3 Left segment 3 preset by the vehicle controller Right segment 3 processed by the steering controller Freigabe Remote control ...

Страница 69: ...witch mode from driving in automatic mode standby mode F3 Browsing of vehicle errors F4 Browsing of request errors F5 Browsing of automatic mode errors 0 Preset segment 0 1 Preset segment 1 2 Preset segment 2 3 Preset segment 3 C Toggling release for vehicle control unit Table 42 Display Control Unit Input options ...

Страница 70: ...e error When using odometry with steering angle the vehicle speed is calcu lated based on the steering angle 1 Check the rotary encoder via menu E Test Monitor on page 40 and replace if necessary 2 Re adjust odometry refer to chapter 4 Commissioning on page 28 3 Check actual angle using menu E Test Monitor on page 40 Automatic mode is not accepted is not exe cuted 1 Vehicle is not close to the sel...

Страница 71: ... antenna properly 3 Relocate the transponder Adjust parameters Driving in automatic mode not possible 1 1 Error is displayed in menu A Main Monitor Navigation on page 32 2 Velocity is not transmitted 1 See section error codes in the reference manual 2 Check the CAN box 0x191 with the CAN monitor Segment list is not accepted 1 No release for vehicle control unit 2 Incomplete sequence of seg ments d...

Страница 72: ... Screenshot Main Menu 31 Figure 16 Screenshot Main Monitor Navigation 32 Figure 17 Screenshot Main Monitor Sensorfusion 35 Figure 18 Screenshot Datalogging 39 Figure 19 Screenshot Test Monitor 40 Figure 20 Screenshot F Error Logger 42 Figure 21 Screenshot Parameters Navigation 49 Figure 22 Screenshot Parameters Navigation Main Menu 50 Figure 23 Screenshot Parameters Navigation Geometric 52 Figure ...

Страница 73: ...4 Table 16 Main Monitor Navigation Section Status 34 Table 17 Main Monitor Navigation Input options 35 Table 18 Main Monitor Sensorfusion Section antenna 1 36 Table 19 Main Monitor Sensorfusion Section antenna 2 36 Table 20 Main Monitor Sensorfusion Section odometry 36 Table 21 Main Monitor Sensorfusion Section odometry 1 37 Table 22 Main Monitor Sensorfusion Section odometry 2 37 Table 23 Main Mo...

Страница 74: ...arameters Navigation Speed Controller 60 Table 38 Parameters Navigation Sensor Fusion 62 Table 39 Display Control Unit Section Sensor Fusion 65 Table 40 Display Control Unit Section Bahnregler 66 Table 41 Display Control Unit Section Bahnregler Vorgaben 66 Table 42 Display Control Unit Input options 68 Table 43 Trouble Shooting 69 ...

Страница 75: ...through out the entire document In addition each document has an index listed behind the front page including pages and whenever the document has more than 10 pages following the actual system description a figure and table index in the back In certain cases for long and or complicated documents a subject index is added Each document provides a table block with metainformation on the front page in...

Страница 76: ...are used according to the description This instruction manual has been drawn up to the best of our knowledge Installation setup and operation of the device will be on the customer s own risk Liability for con sequential defects is excluded We reserve the right for changes encouraging techni cal improvements We also reserve the right to change the contents of this manual without having to give noti...

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