Gotting HG G-73650ZD, Основы, настройка и программное обеспечение

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Documentation HG G-73650ZD | English, Revision 05 | Date: 09.03.2017 | www.goetting-agv.com
150 Chapter 12: List of Figures HG G-73650ZD
12
List of Figures
Figure 1 Example: Suitable vehicle types (selection)............................................................................................ 9
Figure 2 Sketch: Suitable vehicle types ...................................................................................................................... 9
Figure 3 Block diagram system structure................................................................................................................10
Figure 4 Determination of antenna positions underneath the vehicle .......................................................12
Figure 5 Single antenna: Placement ..........................................................................................................................12
Figure 6 Properties of a single antenna set-up .....................................................................................................13
Figure 7 Properties of a double antenna set-up ...................................................................................................14
Figure 8 Properties of a triple antenna set-up .......................................................................................................15
Figure 9 Vehicle Coordinate System..........................................................................................................................17
Figure 10 Cylindrical intersection of the earth globe for a flat country coordinate system ................18
Figure 11 Example: Virtual track with support points...........................................................................................19
Figure 12 Example of a segment file with support points ..................................................................................20
Figure 13 Example for congruent segments.............................................................................................................21
Figure 14 Segment FIFO shifting register ..................................................................................................................22
Figure 15 Offset segments................................................................................................................................................24
Figure 16 Example: Offset driving..................................................................................................................................25
Figure 17 Example: Inverted steering...........................................................................................................................25
Figure 18 Example: Steering not inverted..................................................................................................................26
Figure 19 Online Track Editor by Götting ...................................................................................................................28
Figure 20 Example course with a driving job consisting of a combination of segments .....................29
Figure 21 Guidance of an omnidirectional vehicle.................................................................................................30
Figure 22 Guiding an omnidirectional vehicle: Control process.......................................................................31
Figure 23 Formula: Limitation of angles .....................................................................................................................31
Figure 24 Forward guidance of a non-omnidirectional vehicle........................................................................32
Figure 25 Backwards guidance of a non-omnidirectional vehicle..................................................................32
Figure 26 Photo of the Control Unit: Basic configuration and version including the Feldbus/Profinet
extension module and with option GPS.................................................................................................36
Figure 27 Dimensions of the control unit Hardware HG G-61430ZD............................................................37
Figure 28 LED‘s and connectors.....................................................................................................................................37
Figure 29 Sketch of connector ETH ..............................................................................................................................38
Figure 30 Sketch USB connectors Type A and Type B ........................................................................................39
Figure 31 Sketch of connector SIO 1 ...........................................................................................................................39
Figure 32 Sketch of connector SIO 2 ...........................................................................................................................39
Figure 33 Sketch of connector CAN 1 .........................................................................................................................40
Figure 34 Sketch of connector CAN 2 .........................................................................................................................40
Figure 35 Sketch of connector SIO 3 ...........................................................................................................................40