Documentation HG G-73650ZD | English, Revision 05 | Date: 09.03.2017 | www.goetting-agv.com
8
Chapter 1: Introduction
ronments with the restriction that the GPS signals experience no interferences due to
occlusions). Furthermore it is essential that all parameters, e.g. concerning the vehicle's di-
mensions and functions as well as the position of the axles and wheels have to be entered
with utmost accuracy. Consequently for new projects a comprehensive testing of the set-
tings with a jacked-up vehicle within a closed down section of the plant is always recom-
mended.
ATTENTION!
As vehicles using the steering controller usually drive fully automated during their final / last
implementation step, there is always the risk of damages to the vehicles and the environ-
ment if any incorrect parameters or faulty input signals are entered!
The vehicle manufacturer as well as the plant operator are obliged to operate with the great-
est care and to inform all persons either on the vehicle or in the danger zone surrounding
the machine about the risks involved. Furthermore all persons entrusted with carrying out
work within or close to the area of automated operation have to be informed that the vehicle
is driving autonomously.
1.4 Requirements / Options
–
If you want to use the internal sensor fusion, at least one rotary encoder or any other
velocity or distance determining sensor has to be in operation. When rotary encoders
are directly connected to the steering controller please ensure that it is a push/pull
type with an output voltage of 5 to 25 V, two tracks perpendicular to each other and a
resolution of 0.1 to 1 mm / pulse. Using data telegrams on the bus it is also possible
to work with encoders to which this limitation does not apply. For an improved accu-
racy or to achieve redundancy you can also use
Gyro HG 84300
(according to
odometry).
–
If a transponder positioning system is to be used, its antennas can be connected via
CAN bus. Alternatively or in connection with the transponder system you can use a
GPS system.
–
When using the
laser scanner HG 43600
two rotary encoders and two steering
encoders have to be connected directly to the navigation controller or deliver their
data via the wheel telegrams on the bus.
–
Some steering servos and motor control units can be controlled / addressed directly
by the navigation controller so that a vehicle control system for each individual appli-
cation (e.g. PLC) is not absolutely necessary for each application. However, in terms
of monitoring, redundancy and customized adaptions a vehicle control system is
always recommendable for larger vehicles.
–
If emergency stop functions are to be provided, a vehicle control system is manda-
tory as the highest possible safety can only be achieved when both steering control-
ler and vehicle control system are installed.
