Home

Basics, Setup and Software HG 73650 Rev. 01

Contents

1. A Tab_Laengs_Wert Maximum allowed longitudinal error route dependent Abs_Fehler_W Absolute error between odometry and actual angular calculation co Abs_Fehler_Quer Absolute error between odometry and actual calcula tion in cross direction Abs_Fehler_Laengs Absolute error between odometry and actual calcula tion in longitudinal direction Table 31 Errorlogger Vehicle Status part 6 of 7 GOTTING English Revision 01 Date 20 09 2012 48 Commissioning HG 73650 en Dan Ten CO Sprung Status Indicates why the calculated position was not trans ferred into odometry 0x01 Abs Fehler W gt Abw Tab Winkel Wert 0x02 Abs_Fehler_Quer gt Abw Tab Ouer Wert 0x04 Abs Fehler Laengs gt Abw Tab Laengs Wert 0x08 fabs t dy 1 gt 0 25 m OdodSumme Weg Distance since last used transponder Genauigkeit Estimated position accuracy Ed Guete Messung Estimated quality of measurement CU Guete_ Position Estimated quality of position in odometry EBEN EI Position_Weg Estimated quality of position in odometry influenced by the distance covered Gewichtung Intensity of influence of the calculated position of odometry CX Position _OK Set to 1 if position was initialized Table 31 a Vehicle Status part 7 of 7 4 11 G Parameters Navigation Using this menu the parameters for the sensor fusion and for the steering controller can be set Following selection screen appears Parameter Menu Navigation
2. Vehicle Option The vehicle option adjusts basic vehicle parameters odometry geometry trailer vehicle related outputs etc see reference manual Da Vehicle Number Number of the vehicle e g important for data logging RS232 2 Protocol Protocol of serial interface 2 camera PMD Camera Remote control for remote control via RS 232 basic features SICK scanner reading angles and distances RS 232 2 Baudrate Baud rate of serial interface 2 9600 19200 38400 57600 115200 are the options For all baud rates the parameters are 8 data bits no parity one stop RS232 3 Protocol Protocol of the serial interface 3 Laser scanner G tting laser scanner Sky Trax Sky Trax camera SICK position pre processed SICK position Table 32 Parameters Navigation gt Main Menu part 1 of 3 ee GOTTING English Revision 01 Date 20 09 2012 50 Commissioning HG 73650 ope Tom RS 232 3 Baudrate Baud rate of serial interface 3 9600 19200 38400 57600 115200 are the options For all baud rates the parameters are 8 data bits no parity one stop bit RS232 4 Protocoll Protocol of the serial interface 4 Convoi leader leading vehicle for convoi mode Convoi chaser following vehicle for convoi mode Ballet protocol remote control for several vehicles RS 232 4 Baudrate Baud rate of serial interface 4 9600 19200 38400 57600 115200 are the options For all baud rates the parameters are 8 data bits no
3. English Revision 01 Date 20 09 2012 55 Commissioning HG 73650 mer Reve Tone P eero mane oem staaten OOOO Steering Scaling Resolution of steering on interface if the angle is transmitted with of 1 100 the parameter must be 100 i oomp Ramz Saas tem orsieerno coneoron fr RR J Servo Typ Enables setting the connected steering servo Supported are Lenze and Berger Lahr Table 35 Parameters Navigation gt Steering 4 11 4 2 Steering correction Steering correction is to improve the steering accuracy If for example a steering trap ezoid is used then the inaccuracy increases with the degree of the angle To compen sate for any inaccuracies and deviations the following procedures may be used 1 Travel a straight line with the vehicle and measure the necessary steering angle 2 Travel a left turn with 1 4 of the maximal steering angle measure the circle diameter and calculate the theoretical steering angle with arctangent axle distance curve radius 3 Travel left turn with 2 4 of the maximal steering angle measure the circle diameter and calculate the theoretical steering angle with arctangent axle distance curve radius 4 Travel left turn with 3 4 of the maximal steering angle measure the circle diameter and calculate the theoretical steering angle with arctangent axle distance curve radius 5 Travel left turn with 4 4 of the maximal steering angle measure the circle diameter and calculate the t
4. Increments of the right wheel Angle of the gyro without offsets Table 28 Test Monitor Section Odometric System Additionally nominal and actual steering angle as well as nominal and actual velocity are displayed me Tome m Steering Aktual Actual steering angle Steering Target Nominal steering angle degrees Speed Aktual Actual velocity Speed Target Nominal velocity meters second Output Output of the velocity regulator P Portion of the velocity regulator l Portion of the velocity regulator D Portion of the velocity regulator Rampe Acceleration ramp Poti Control of the digital potentiometer if available in the selected vehicle option Table 29 Test Monitor Section actual and nominal steering angle 4 9 2 Input Options 5 Trennung anon Tanga C seen age Tanga Table 30 Test Monitor Input Options part 1 of 2 GOTTING English Revision 01 Date 20 09 2012 41 Commissioning HG 73650 ENE m DE LEI EE Hennanesen 05 nara Increase brake if available in the selected Decrease brake if available in the selected vehicle model Table 30 Test Monitor Input Options part 2 of 2 4 10 F Error Logger In order to identify errors during commissioning or operation the steering controller of fers two options The first priority is the more universal data logging described in sec tion 4 8 on page 39 secondly we have the error logger described below In
5. The steering controller s outputs are nominal steering angle nominal vehicle velocity various additional parameters information GOTTING English Revision 01 Date 20 09 2012 6 Introduction Some steering servos and motor controller can be directly controlled by the steering controller so that a vehicle control unit is not required in every application Related to monitoring redundancy and customized modifications to the vehicle a vehicle control unit e g PLC is recommended for large vehicles If emergency stop devices are to be used a vehicle control unit must be used in com bination with the track guidance controller to ensure maximal safety 1 3 3 Sensor Fusion The steering controller receives information from the sensor fusion about the position The sensor fusion can be connected internally preferably when navigating with tran sponders or Sky Trax Tags or externally e g in the case of a laser scanner The sen sor fusion provides the steering controller the following data called pose position on X coordinate position on Y coordinate velocity angle The sensor fusion establishes these values based 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
6. To place the segment correctly into the FIFO register the register number will be trans ferred as well Position of segment number in table The steering controller will be called up every 50 ms Therefore the transmission of the list takes at least 8 x 50 ms 400 ms This list always 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 the same status The target segment is the last segment to reach the end of a de sired route The target segment does not necessarily have to be part of the FIFO reg ister The CAN box of the answer by the steering controllerhas a similar structure This box indicates the current status of the segments in the steering controller 2 1 2 Attributes If the vehicle is driving in automatic mode the corresponding attributes are carried out when a certain support point is reached e g turn signal horn etc The 16 lower bits have a specific predefined meaning and are transmittet The function of these bits are specified in the reference manual The upper 16 bits are transmittet in CAN box 0x191 byte 5 and 6 For most attributes sufficient information is disclosed in the an
7. 00 00 66 00 FF 06 03 93 50 00 so 00 00 00 00 00 00 00 00 50 Connected to 00 500 Ke sec MP Overuns 6 himiFu 0 Her Symbols es Start gt ij Ta Mares O 1G Termin fee Figure 13 PCAN explorer displaying Winde Pap 192 PCAN Eed IHW U D T TIN messages of the steering controller When switched off the resistance of the CAN bus has to be measured The CAN bus must be terminated with 60 ohm all together either 120 ohm each end of a line network or 60 ohm centrally of a star network Only if this can be assured it is possible to start up the guidance controller and test the basic communication via CAN bus with the PCAN explorer Subsequently further commissioning should be implemented using a PC laptop and the corresponding terminal program GOTTING English Revision 01 Date 20 09 2012 28 Commissioning 4 2 Commissioning Terminal Program For further commissioning purposes use the operating software running on the steer ing controller The software can be called up via the RS 232 interface and a connected PC running a terminal program Below we refer to the HyperTerminal Hypertrm exe Program which is included in Microsoft Windows It is also possible to use any other terminal program capable of ANSI emulation Should you use another software please see our manual provided and adjust the values described in section 4 2 2 Please continue on page 30 4 2 1 Finding Hyper Terminal Adding Hyper Terminal to
8. Beray Posten sin verore orenean RR aan Signal strength of the transponder a measure for transponder signal ma strength has to be gt 400 ENE ETIENNE N Aezang Nunberorvanspondermaang EE Table 18 Main Monitor Sensorfusion Section antenna 1 Antenna 2 defines the status of antenna 2 a en Te Sas ned anon das TN EL IE TEN HE Dota _ Poston tte terorar GR m am an Signal strengthof the transponder a measure for Transponder signal wu strength has to be gt 400 Goran Ourenteonsumsienormenanamme _ Reading Numberofvansponderusange Table 19 Main Monitor Sensorfusion Section antenna 2 Odometry defines the status of the odometric system Tome ori m _ Output status byte see reference manual EE Heading of the vehicle mathematically positive X position of the vehicle Table 20 Main Monitor Sensorfusion Section odometry part 1 of 2 GOTTING English Revision 01 Date 20 09 2012 36 Commissioning HG 73650 rane scion Tem Y position of the vehicle Velocity of the vehicle Number of transponder readings BE Table 20 Main Monitor Sensorfusion Section odometry part 2 of 2 Odometrie1 defines the status of the odometric system of antenna 1 IE m S Heading of the vehicle relative to the last transponder crossed by antenna 4 PosX X Position of the vehicle relative to the last transponder crossed by meters antenna 1 Pos Y Y Position of the vehicle relative to the last
9. CAD 6 for which G tting KG provides a plug in for the track guidance controller 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 Vehicle id Support points Segment change lt gt lt Segment 1 Segment 2 Figure 1 Example Virtual track with support points The virtual track consists of several segments that define the sections between branches and end points Each of the segments must consist of at least four support points which are positioned at equal distance over the whole route These support points are not actual points on the route for example transponders in the ground The distance between them depends on the type of the route and the vehicle used The closer the support points lie next to one another the more precisely the tracking will correlate with the virtual track However very close distances between the points are unnecessary for large vehicles because the vehicle itself cannot drive that accurately Should the distances between the points be too long the CAD software would display them as polygonal curves because no rounded curve can be calculated from points which are wide apart from one another English Revision 01 Date 20 09 2012 HG 73650 GOTTING 4 Introduction HG 73650
10. Constant everything OK 1 transponder distance does not fit 10 direction not OK parameter Distance of transponders too small parameter Same transponder code as before Table 31 Errorlogger Vehicle Status part 4 of 7 GOTTING English Revision 01 Date 20 09 2012 46 Commissioning HG 73650 empe ANN Fehler Counter 7 Error counter for single measurement with antenna 2 Constant everything OK 1 transponder distance does not fit 10 direction not OK parameter Distance of transponders too small parameter Same transponder code as before Fehler_Counter_8 Error counter for single measurement with antenna 2 Constant everything OK 1 transponder distance does not fit 10 direction not OK parameter Distance of transponders too small parameter Same transponder code as before 8 ram Er Tie EE EE i _offset_x_1 Offset in X direction of transponder antenna 1 to the vehicle s zero point Bo O last_t_offset_y_1 T_offset_y_1 of the last transponder t_offset_y_1 Offset in Y direction and lateral transponder distance of the transponder antenna 1 to the vehicle s zero point Ba last_t_x_2 t_x_2 of the last transponder Ea last t y 2 y 2 of the last transponder BS last _t_offset x_2 t_offset_x_2 of the last transponder et _offset_x_2 Offset in X direction of the transponder antenna 2 to the vehicle s zero point BU last _t_offset_y t_offset_y_2 of the last transponder EE Offset in Y d
11. Monitor Navigation Section Deviation 33 Main Monitor Navigation Section Segment ee ee ee ee ee 33 Main Monitor Navigation Section Error 34 Main Monitor Navigation Section Steering ee ee ee ee 34 Main Monitor Navigation Section Status 34 Main Monitor Navigation Input OptiONS ee ee ee ee ee 35 Main Monitor Sensorfusion Section antenna ssie 36 Main Monitor Sensorfusion Section antenna 2 36 Main Monitor Sensorfusion Section odometry ee se ee ee ee 36 Main Monitor Sensorfusion Section odometry 1 ee ee ee 37 Main Monitor Sensorfusion Section odometry 2 37 Main Monitor Sensorfusion Section Sky Trax ee ee ee ee 37 Main Monitor Sensorfusion Section Deviation Single 38 Main Monitor Sensorfusion Section Deviation Double 38 Main Monitor Sensorfusion Section Gyro 39 Test Monitor Section Position ee ee ee ee ee ee ee ee ee ke ee ee ee 40 Test Monitor Section Odometric System ee ee ee 41 Test Monitor Section actual and nominal steering angle 41 Test Monitor Input Options nennen 41 Errorlogger Vehicle Status ee ee ee ee ee ee ee ee ee ee ee ee ee ee ee ee ed 43 Parameters Navigation gt Main Menu ee ee ee ee ee ee 50 Parameters Navigation gt Geometric ee ee ee ee ee ee 52 Parameters Navigation gt Accuracy ee ee ee ee ee ee ee ee ee ee 55 Parameters Navigation g
12. available for operation English Revision 01 Date 20 09 2012 HG 73650 GOTTING 29 Commissioning HG 73650 4 2 2 Parameter Settings The following parameter settings are required Adapt the COM Port if necessary see below Terminal Settings Monitor Program Baud rate 115200 Baud Also possible 9600 19200 38400 und 57600 Baud Terminal emulation ANSI Terminal 24 lines 80 columns paces PC interface port COM1 may differ in cases see below Table 9 Terminal settings for the monitor program If you use another port than COM1 with Hyper Terminal change the port in the follow ing way 1 In the file menu select menu item properties or click on the cor ern Rufnummer Einateturgen responding icon EJ The window shown to te right opens on ER Landeskonnzaht z Geben Sie bate nur de Oitikennzahl ein 2 Choose the corresponding port from the submenu connect and confirm with Ze Save the modified values if an appropriate message appears when quitting Hyper Terminal 4 3 Using the Terminal Program Starten Sie HyperTerminal auf dem PC und verbinden Sie den entspre mak 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 Eed abgeschlos sen werden The
13. distance are reset whenever an absolute position sensor transponder is available Additionally the ac curacies of both systems are compared and corrected proportionally In addition the sensor fusion outputs the velocity of the vehicle as well as the accuracy estimation of the respective position The accuracy estimation is based on the accu racy table see manual The table is designed in such a manner that the inaccuracy immediately after crossing a transponder is small That means errors grow faster relat ed to the distance travelled since the angle is steadily worsening as well Thus the ac curacy coding declines accordingly with every meter travelled English Revision 01 Date 20 09 2012 HG 73650 GOTTING 19 Guidance Control in Detail HG 73650 2 2 1 Odometric System The odometric system determines the change in the vehicle position and vehicle heading using the wheel rotations and or steering angle and or gyro There are differ ent odometric systems available There are 2 monitored wheels on 1 fixed axle Advantage simple structure Encoder 1 measures the rotations of the left Disadvantage load dependent if the wheel Encoder 2 measures the rotations of vehicle has airfillled rubber tires the right wheel There are 2 monitored wheels on 1 fixed axle Advantage less load dependent The alteration in heading angle is determined Disadvantage inaccuracies in tight by the steering angle turns may occur 2 There a
14. ee ee Re ee ee ee ee ee ee ee ee ee ee ee ee ee 16 Figure 10 Example drive ee ee ee ee ee ee ee GR RR Re ee ee ee ee ee ee RR Re Re ee ee ee ee ee ee Re Re ee ee 16 Figure 11 Feed forward Control ses EE EE GEE ER RES NE lines 17 Figure 12 Feed back control sib SEE AFR SAKE GER See ERGER SEE ER SAGE Eb ged Ee ee gese 17 Figure 13 PCAN explorer displaying messages of the steering controller 28 Figure 14 Add Hyper Terminal to the SYSt M ees ee ee ee ee ee ee ee 29 Figure 15 Screenshot Main MENU ee ee ee ee ee ee ee ee ee Re ee ee ee ee ee ee ee ee ee 31 Figure 16 Screenshot Main Monitor Navigation 32 Figure 17 Screenshot Main Monitor Sensorfusion ee ee ee ee ee ee ee ee 35 Figure 18 Screenshot Datalogging s reesei 39 Figure 19 Screenshot Test MONITOF ee ee se ee ee ee ee ee ee ke ek ke nenn 40 Figure 20 Screenshot F Error LOgOer ie ee ee ee ee ee ee ee ee ee ee 42 Figure 21 Screenshot Parameters Navigation 49 Figure 22 Screenshot Parameters Navigation gt Main MENU ee ee see 50 Figure 23 Screenshot Parameters Navigation gt Geometric eee 52 Figure 24 Screenshot Parameters Navigation gt Accuracy ee ee ee ee 54 Figure 25 Screenshot Parameters Navigation gt Steering ee ee ee 55 Figure 26 Calculation of the correction coefficients ee ee 57 Figure 27 Screenshot Parameters Navigation gt Steering Controller 58 Figure 28 Screenshot Parameters Navigation gt Speed Contr
15. following menu will be displayed GOTTING English Revision 01 Date 20 09 2012 30 Commissioning 4 4 Main Menu HG 73650 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 Parameters form EEPROM I Save changed Parameters J Update Parameters PC gt Controller K Download Parameters Controller gt PC L Update Segments PC gt Controller M Download Segments Controller gt PC N Show Segments O Update Transponder PC gt Controller P Download Transponder Controller gt PC Q Show Transponder R Show Dokumentation S Stop Communication ESC gt back cancel Figure 15 Screenshot Main Menu From this menu you are able to access all other menus Applying the characters on the left you can branch off into the corresponding submenus Leave the submenus us ing the EJ key The main menu is divided into three sections The top area from Alto F is used for the display or recording of data In this field a simple manual vehic troller El is integrated as well e con The middle section has only one menu item With is you are able to branch off to all further parameter menus The lower section ofthe menus is for saving and loading the parameters Here it iS pos sible to transmit data from to HG 61430
16. fully suspend ed vehicle have a negative effect A position error caused by vehicle inclination de pends on the degree of tilt and the distance to the tag 2 4 Vehicle Control Unit The track guidance controller communicates with the vehicle control unit via CAN Bus Profibus or Ethernet The vehicle control unit adapts the steering controller to the ve hicle This offers the advantage of a standard interface The customer can directly af fect the adaptation and is therefore able to make the necessary adjustments Vehicle control unit and steering controller may mutually monitor their communication This guarantees a higher level of security The vehicle control unit is responsible for control GOTTING English Revision 01 Date 20 09 2012 23 Guidance Control in Detail HG 73650 ling vehicle components such as motor controller brake speed and steering In some cases a steering servo e g Berger Lahr or a motor control 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 section 1 3 1 on page 6 GOTTING English Revision 01 Date 20 09 2012 24 Interfaces 3 Interfaces The stee
17. in the center of the vehicle e g for some of the simple forklifts K Antennen invert Enables inverting the antennas individually The following combi nations are possible T1 Transponder antenna 1 72 Transponder antenna 2 L SX Sky Trax in X direction SY Sky Trax in Y direction Sky Trax X Offset between the centre of the symmetrical axis and the position of the Sky Trax camera in X direction of the vehicle coordinate system Sky Trax Y Offset between the centre of the symmetrical axis and the position of the Sky Trax camera in Y direction of the vehicle coordinate system Table 33 Parameters Navigation gt Geometric part 2 of 2 GOTTING English Revision 01 Date 20 09 2012 53 Commissioning 4 11 3 C Accuracy This menu allows adjusting thresholds where the vehicle shall be stopped HG 73650 Main Menue gt Parameter Menue gt Main Accuracy Variables A Accuracy Teach In current 20 000000 m B Accuracy Tarck 0 current 20 000000 m C Accuracy Track 1 current 20 000000 m D Accuracy Operating current 20 000000 m E Deviation 0 current 0 300000 m F Deviation 1 current 0 300000 m ESC gt back cancel Figure 24 Screenshot Parameters Navigation gt Accuracy When entering the code for the accuracy it is essential to pay attention to the type of navigation system The set value indicates the possible error the position may have If the vehicle
18. incremental ro tary encoders Optionally the accuracy and load dependence of the odometry can be enhanced by using the G tting Gyro HG 84300 It is also possible to calculate the odometry from two sources and compare their results This way the sensor failures can be identified 1 3 4 Track Controller The task of the track guidance controller is to move the vehicle from the current posi tion given by the sensor fusion to the next support point The controller also calcu lates the rest of the track along several support points it forms what are known as regressions and delivers the virtual track that the vehicle can drive on The tracks between the support points are reconstructed with smooth functions re gressions over several support points so that a continuously controlled movement of the vehicle is possible The values of position accuracy 16 free and 16 defined bits are stored at each support point English Revision 01 Date 20 09 2012 HG 73650 GOTTING 7 Introduction Segment 6 Segment 4 Segment 7 Segment 8 Segment 3 a Segment 5 f Travel command Segment 2 Segments 1 2 3 7 j Segment 1 Vehicle t Figure5 Exemplary layout with travel commands as a combination of segments The vehicle can be placed between the support points The track controller uses the incoming position data to identify what segment it is on and which support point fol l
19. is navigated with DGPS the position is always available If e g an accuracy of 0 05 meter is set the vehicle will be stopped if the GPS outputs a position accuracy of 0 07 meters If a transponder system is used the position accuracy is determined differently Once a transponder has been crossed and the accuracy was good the accuracy is set to 0 01 meters With each 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 accuracy is set to a value that allows for one transponder to be missed while the next one can still be reached safely Atatransponder distance of e g 3 meters corresponding to 7 meters travelling gt Code 9 gt 0 15 meters accuracy The particular parameters are described below English Revision 01 Date 20 09 2012 GOTTING 54 Commissioning HG 73650 ape p OOOO Accuracy Teach In Minimal necessary accuracy of the position for starting Teach In procedure Note Teach In is not yet implemented Accuracy Track 0 Minimal necessary accuracy of the position for automatic operation if the attribute is ATTRIBUT_ABWEICHUNGS_UMSCHALT 0 Accuracy Track 1 Minimal
20. order to run the error logger it is not necessary to connect a PC laptop during operation In case of error it is sufficient to connect the PC laptop subsequently as the data remains stored inside the steering controller until it is switched off The PC laptop can retrieve the required data via a terminal software However always the same 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 J for Error logger in the main menu has to be pressed first Then the following window will open Please press spacebar to start logging ESC gt back cancel Figure 20 Screenshot F Error Logger Then select Hyperterminal gt Transfer gt Capture Text afterwards name the file and start recording with Hyper Terminal GOTTING English Revision 01 Date 20 09 2012 42 Commissioning HG 73650 ATTENTION Only then you should press the space bar A correct sequence of N these steps is essential Otherwise the heading of data recording and the related allocation of these data would be lost When quitting the data logging first terminate the capture by following the sequence Hyperterm gt Transfer gt Capture Text gt Stop Then exit the submenu by pressing LJ The generated CSV file has the structure in the table below The columns wil
21. stand by On completion bit 5 in byte 1 in the CAN box 0x185 will be set seg ment search completed The positively found segments are transmitted as a segment listing in box 0x195 to the vehicle control unit If the segment search bit is set to O 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 ensure that continual driving is possible the connecting segment must al ways be known Therefore the steering controller has a segment memory with eight entries designed asa FIFO First in First Out shift register see Figure 8 above Seg ment 0 is the current segment Segment 1 is the next segment Segment 7 is the last segment in the FIFO register If the FIFO register does not have 8 segments the rest of the entries are filled up with 255 Note 0 is a valid segment number If the vehicle is finished with a segment it is pushed out of the FIFO register and the next segments move up English Revision 01 Date 20 09 2012 HG 73650 GOTTING 13 Guidance Control in Detail HG 73650 Segment number 33 just processed Table 2 Example Shifting of segments part The list will be transferred to the vehicle controller via CAN bus The vehicle controller can respond to the removed segment by
22. the sys tem First make sure that 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 Ricken te a de Kores she dee Komponenten de r gt DRAKE red ES EE Tl Ar eda salen Ge Be F ieder Wetere Inkamateren Chater Se de Detak FEE ZI were zu EES Sa de Dei GET and Systemsteuerun m TENE je re Me ro aowi s ahd a 2 B5PCDesinetnding e amp A er sa OOM a wen am xf mere vete Urdunen Altea 145M8 Specherisdesst 4 a Bestes eh hy de Vebrdrg mt der Gergen urd Ore rare J van Komponenten agers Figure 14 Add Hyper Terminal to the System 2 Select Icon Software Select the tab Windows set up Select submenu Connec tions Click eg 3 Check whether there is a checkmark in front of yes M no O If yes the pro gram is installed on your system then cancel these two dialogs and move to the next step Otherwise add the checkmark and close both windows with Zu 4 Subsequently you will be asked to insert the Windows installation CD in the CD drive Then confirm the following messages with Ze HyperTerminal will be installed and is
23. track guidance lateral displacement will be measured G 98767 Not suitable for track guidance lateral displacement will not be measured For this antenna an additional guidance or camera system has to be applied Skalierung Sky T The Sky Trax system specifies exact locations of the tags in pixels This parameter provides a conversion between pixels and meters If there are different tag sizes or different heights a fine tuning adjust ment is possible with the tag sizes of the transponder list Table 38 Parameters Navigation gt Sensor Fusion part 2 of 2 4 11 8 H Vehicle Specials This output is vehicle specific Information is available in the reference manual 4 11 9 I Datalogging Parameterization of the output In this menu the debugging outputs of the steering controller and the sensor fusion can be parameterized The indicated menu items function only as titles for a different number of issued variables These various options are necessary as it would last more than 50 ms to issue all variables this would be too time consuming for the system function On the other hand failures of different tyoes each require individual variables Allocation of the variables characterized by a header field with their corresponding names can be taken from the CSV file GOTTING English Revision 01 Date 20 09 2012 63 Commissioning HG 73650 Data Logging Navigation Ist Position Soll Position Achs Position Hilfs Posi
24. transponder crossed by meters antenna 1 Distance traveled since capturing the last transponder Table 21 Main Monitor Sensorfusion Section odometry 1 Odometrie2 defines the status of the odometric system of antenna 2 ame owormien _ m Heading of the vehicle relative to the last transponder crossed by antenna 2 PosX X Position of the vehicle relative to the last transponder crossed by meters antenna 2 Pos Y Y Position of the vehicle relative to the last Transponder crossed by meters antenna 2 Dist Distance traveled since capturing the last transponder meters Table 22 Main Monitor Sensorfusion Section odometry 2 Sky Trax defines the status of the Sky Trax System NEE O O MC1 MC2 Tag code of the first tag Rigth Tag code of the second tag Table 23 Main Monitor Sensorfusion Section Sky Trax part 1 of 2 GOTTING English Revision 01 Date 20 09 2012 37 Commissioning HG 73650 EE E MW1 MW2 Tag angle of the first tag Tag angle ofthe second Tag Counter Counts all characters received from Sky Trax Counter of all calculated positions Distance Measured distance of both tags meters Right Theoretical distance of both tags Ange Ange Calculated steering angle ofthe Sky Trax System Calculated X Position of the Sky Trax System meters Right Right Calculated Y Position of the Sky Trax System Table 23 Main Monitor Sensorfusion Section Sky Trax part 2 of 2 Deviation
25. 0 GOTTING 10 Guidance Control in Detail HG 73650 cle has to go through segments 10 1 7 6 and 3 Since the vehi cle drives backwards along segments 6 and 3 the velocity of the segments is negative see also Figure 7 on page 12 Station 4 Segment 7 Station 2 Segment 8 Segment 1 Segment 2 Segment 6 Segment 5 Segment 3 Segment 4 Station 1 Station 3 Segment 9 Segment 10 Figure6 Example Segments 2 1 1 1 The segment file All segments and the associated support points are stored in the segment file This segment file is created with a CAD software Malz Kassner CAD6 The typically large CSV file created by the CAD software must be compiled into a binary format using BRTool The BRTool software is available from us on request 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 points 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 10 OxOOOOOOO01 4 2 8920 1416 10 10 0x00000000 4 3 8920 1167 10 10 0x00000000 Segment Point number Y Position Velocity Velocity number end next 0x00000000 0x00000000 0x00000002 Table 1 Explanation of a seg
26. 1 2 Suitable and unsuitable vehicle types The range of particularly suitable vehicle types covers all vehicles that either have a fixed axle or symmetrical steering Vehicles such as trucks forklift trucks electric tow tractors and some heavy duty transporters fulfill these requirements A fixed axle can be applied to the axis of symmetry without the problem of dragging wheels in curves Figure2 Example A selection of vehicle types The sketch below shows simplified versions of all vehicles as three wheelers because this is the base vehicle model used by the track guidance controller For example also a car is only steered from one point so the computer can consider 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 v Fixed axle Symmetrical axle Two fixed axles Articulated steering with Omnidirectional center pivot point drive Mecanum particularly suitable particularly suitable reduced accuracy and drive partially slipping wheels less accuracy e g fork lift trucks e g some types of requires different heavy load vehicles e g large tractors e g loader firmware Figure3 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
27. 3 4 12 Display and key pad of the control UNI see ee ee ee ee 65 4 12 1 Status output on the Display 0 ee ek RR RR RR ee ee Ee Re 65 4 12 2 Direct input options at the control UNIT ee ee ee ee 67 Trouble Shooting AE 69 BE Ee du ME RE EE Oe 71 List of Tables EE EE EE EN 72 Essential Information for Reading this Manual 74 Copyright and Terms of Liability 0 cece ke ee ek 75 9 1 Copyright EE EE EE Ee 75 9 2 Exclusion of laden 75 9 3 Trade Marks and Company Names 75 English Revision 01 Date 20 09 2012 HG 73650 GOTTING 3 Introduction 1 Introduction The subject of this manual is the track guidance controller for AGV Automated Guided Vehicles used for following virtual tracks see below This manual describes the fol lowing components of the track guidance controller 1 Track control with steering controller sensor fusion and vehicle control see chapter 2 on page 10 2 Overview of interfaces see chapter 3 on page 25 3 Commissioning see chapter 4 on page 28 4 The description of the hardware and the telegram listing of the interfaces can be found in two separate documents The following sections of the introduction will provide an overview of these areas 1 1 Virtual tracks A virtual track describes a route that does not have physical tracks or marks e g op tical lines or inductive guide wires It is usually defined in a CAD program below we will refer to Malz Kassner
28. Approach Lim Fix current 10 000000 S O Approach Lim Var current 0 100000 s P Steeringangle Max current 90 000000 a Q Steerung Servo current Off R Steering Servo KP current 50 000000 ESC gt back cancel Figure 27 Screenshot Parameters Navigation gt Steering Controller The single parameters are described in the following table LN ENE Angle Control Kp Linear amplification of the angle control first part of the steering angle controller applied at the following vehicle options ABU ABE see reference manual Angle Control Tn Integration time constant of the angle control first part of the steering angle controller applicable for the following vehicle options ABU ABE see refe rence manual Angle Control Tv Derivative time of the angle control first part of the steering angle controller applicable for the following vehicle options ABU ABE see refe rence manual Angle Control Td Differentiation time constant of the angle control first part of the steering angle controller applicable for the following vehicle options ABU ABE see refe rence manual Speed Comp Fix Constant proportion of the gradient of the steering angle ramp in 50ms The steering angle ramp is only used with guide wire sensors or in parameter test mode Table 36 Parameters Navigation gt Steering Controller part 1 of 2 GOTTING English Revision 01 Date 20 09 2012 58 Commissioni
29. Basics Software HG 73650 Track Guidance Controller Basics Commissioning and Software HG 73650 English Revision 01 Dev by M L Date 20 09 2012 Author s RAD A F G tting KG Celler Str 5 D 31275 Lehrte R ddensen 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 ee GOTTING Contents HG 73650 Contents EE oe EO ER EE N DI 4 1 1 Virtual tracks asie EE Ee GE Rg 4 1 2 Suitable and unsuitable vehicle types 200 en 5 13 Howil work een 6 1 3 1 System oue ER ER 6 1 3 2 Steering Controller ee ee ee Re ER Ge AR Re RA Re Ge GR ek ER ee 6 133 AE EE N OE nn en 7 1 34 Track Controller sn 7 1 3 5 ParameterzaUO nur neigen 8 1 4 Preconditions OptONS ee ee ke RR Re Re Re 9 2 Guidance Control in Detail eise ese RR 10 2 1 Steering controller s susse EES EE ERROR Ee PRE Eb 10 2 1 Sedmenls se Ri EE De eda EE EE eas eens 10 2 1 11 The segment filesinin gee ee GR Ge ee an 11 2 1 1 2 Segment searchers iann AE SE GER ARE NEE Nee erased 13 2 1 1 3 Specifiying the segments ese see Re Ge Ge ek Ke Re Ge Re Ge ke 13 2 1 1 4 Transmission of the segments u issie ie se ee ek Ge Re ee Ge 15 2 1 2 SAUMMDULES EE ED GE AD ES EE N Ge ee EE GR ED Ee 15 EN EL EE EE kennen 15 2 1 4 Calculation of the Steering Angle eeens 16 2444 Feed Forward Control esis its ies sesse dis n
30. 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 the HG S57652 GPS sys tem is to be used the rotary encoders must be connected to the GPS controller To extend the input and output capabilities the IFM module CR 2033 can be con nected via the CAN Bus GOTTING English Revision 01 Date 20 09 2012 9 Guidance Control in Detail 2 Guidance Control in Detail The structure of the track guidance controller is shown in Figure 4 on page 6 Two in cremental encoderscan be connected to the steering controller hardware This is re quired when the internal sensor fusion is used and the steering controller has to control or mon itor the velocity itself or where a laser scanner is used If the internal sensor fusion is used the position of the vehicle is calculated from the odometry provided initialized and adjusted by the transponder antenna and or the Sky Trax system The transponder antenna is then connected via the CAN bus Addi tionally the position impulse impulse when the midpoint of the antenna crosses the transponder has to be connected with IO 1 The Sky Trax system is connected via the SIO 3 The optional gyro is connected via the CAN bus Its purpose is to imp
31. Controller Main Geometric Accuracy Steering Steering Controller Speed Controller Sensorfusion Vehicle Specials HO OHAHHYO UP Datalogging ESC gt back cancel Figure 21 Screenshot Parameters Navigation GOTTING English Revision 01 Date 20 09 2012 49 Commissioning HG 73650 4 11 1 A Main Using this menu the parameters for the sensor fusion and for the steering controller can be set Following selection screen appears Main Menue gt Parameter Menue gt Main Program Variables A Vehicle Option current Stapler B Vehicle Number current 0 C RS232 2 Protocoll current no Protocoll D RS232 2 Baudrate current 9600 Baud E RS232 3 Protocoll current no Protocoll F RS232 3 Baudrate current 115200 Baud G RS232 4 Protokoll current no Protocoll H RS232 4 Baudrate current 9600 Baud I CAN 1 Protocoll current CAN Universal J CAN 1 Baudrate current 500k Baud K CAN 2 Protokoll current Las Rem L CAN 2 Baudrate current 250k Baud M Fusion Senden current On N Log Seg End current Off O Vehicle Symetrie current Off P Sensorfusion current Extern Laser Q Navigation current Off R Simulation current Off S Profibus address current Off T Ethernet IP current Off ESC gt back cancel Figure 22 Screenshot Parameters Navigation gt Main Menu The different parameters are described below or um Jon o o
32. EE Connection of a laser scanner HG 43600XA can also be connected via CAN Bus Sky Trax Trax Connection of a Sky Trax camera Er position Connection of a PC calculating position and steering angle with a SICK scan ner company internal use Table 7 SIO 3 protocols GOTTING English Revision 01 Date 20 09 2012 26 Interfaces HG 73650 344 SIO4 SIO4 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 configured via parameters ee eee Telegram of the leading vehicle electronic tow bar company internal use Telegram of the following vehicle electronic tow bar company internal use Ballett protocol Connection of a PC ensuring collision free operation of 4 vehicles company internal use Table 8 SIO 4 protocols 3 5 Terminal Terminal is an adjustable RS 232 interface with the following default values baud rate 8 bit no parity and 1 stop bit The terminal emulation is ANSI It offers communication via a connected PC laptop e g for commissioning The following functions are possi ble display of the current data display of the commissioning menu which allows monitoring and control ling all basic vehicle functions via keys e 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 expor
33. Single summarizes the deviations of the single measurements For a single measurement 1 antenna 2 transponders and the distance traveled between these two transponders are required NE NN m _ Angle S Deviation between the previous heading angle of the vehicle and the last degrees single measurement Dev X S Deviation between the previous vehicle position in X direction and the last meters single measurement Dev Y S Deviation between the previous vehicle position in Y direction and the last meters single measurement Table 24 Main Monitor Sensorfusion Section Deviation Single Deviation Double summarizes the deviations ofthe double measurements For a dou ble measurement 2 antenna 2 transponders and the distance traveled between these two transponders are required SC Angle D Deviation between the previous heading angle of the vehicle and the last degrees double measurement Dev X D Deviation between the previous vehicle position in X direction and the last meters double measurement Dev Y D Deviation between the previous vehicle position in X direction and the last meters double measurement Table 25 Main Monitor Sensorfusion Section Deviation Double GOTTING English Revision 01 Date 20 09 2012 38 Commissioning HG 73650 Unter Gyro sind die wichtigsten Werte des Gyro zusammengefasst Fame onmion Te Angle of the gyro without drift correction and angle offset Offset for correction of drift whi
34. Users also have the option to view the data English Revision 01 Date 20 09 2012 GOTTING 31 Commissioning HG 73650 4 5 A Main Monitor Navigation Once Al has been selected in the main menu the following display appears Main Monitor Navigation Vehicle Target Deviation Angle 0 00 3 Angle 0 00 1 Angle 0 00 2 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 gt Steer 0 00 T J Steer 0 00 2 Front 0 00 m Segment Error Rear 0 00 m Numberl 255 4 R T Vehicle 40 Accur 100 00 m Number2 255 255 R T Condition A8 Number3 255 255 R T Request 0 Point 0 Nr Sample 0 00 Steering Attrib 0 Deviation 0 00 t J Status Start Curvature 0 OO P08 4 Status Clearance 1 Timer Wait Modus Idle Mode Main Wait Figure 16 Screenshot Main Monitor Navigation 4 5 1 Monitor Outputs Parameters Vehicle display the current vehicle values ame oem m Actual vehicle heading X component of position of the symmetrical axis of the vehicle Y component of position of the symmetrical axis of the vehicle Current speed of vehicle Current steering angle of vehicle Table 10 Main Monitor Navigation Section Vehicle GOTTING English Revision 01 Date 20 09 2012 32 Commissioning HG 73650 Parameters Target summarize the nominal values of the current s
35. a recording and the related allocation of these data would be lost When quitting the data logging first terminate the capture by following the sequence Hyperterm gt Transfer gt Capture Text gt Stop Then exit the submenu by pressing El 4 9 E Test Monitor The test monitor enables controlling the values output by the Steering Controller via keys This is especially useful during commissioning in order to test the interfaces and functions of the vehicle HG 73650 AN Parameter Test Position Odometric System Angle 0 00 Inkrements left 0 Pos X 0 00 Inkrements right o f Pos Y 0 00 Gyro 0 0000 T Aktual Target unit Possible Action Steering 0 00 0 00 1 Left A Right D Speed 0 00 0 00 m s Faster W Slower S More X Less Y Stopp Space Forwa F Neutr N Rew Speed More O Less L Output 0 00 P 0 00 I 0 00 D 0 00 Ramp 0 00 Poti 127 Breakes 0 ESC gt back cancel Figure 19 Screenshot Test Monitor 4 9 1 Display outputs Position indicates the position of the vehicle rene orsenmen y y Heading of the vehicle mathematically positive X Position of the vehicle Y Position of the vehicle Table 27 Test Monitor Section Position English Revision 01 Date 20 09 2012 GOTTING 40 Commissioning HG 73650 Odometric System outputs the sensor data for the odometry e en EE Inkrements left Increments of the left wheel Inkrements right
36. accuracy of the position for automatic operation if the attribute is ATTRIBUT_ABWEICHUNGS_UMSCHALT 1 Ed 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 Maximal allowed deviation between actual and target position for automatic operation if the attribute is ATTRIBUT_GENAUIGKEITS_UMSCHALT 1 Table 34 Parameters Navigation gt Accuracy 4 11 4 D Steering This submenu enables setting all parameters for steering The first 3 parameters refer directly to the steering controller NOTE If the steering is controlled by a vehicle control unit it is essential 2 to indicate the scaling of the steering Comp Left 1 and Comp Right 1 Main Menue gt Parameter Menue gt Angle Controller Variables A Steering min current 0 B Steering Middle current 0 C Steering max current 0 D Steering Scaling current 100 000000 E Comp Left 2 current 0 000000 F Comp Left 1 current 1 000000 G Comp Middel current 0 000000 H Comp Right 1 current 1 000000 I Comp Right 2 current 0 000000 J Servo Typ current Lenze ESC gt back cancel Figure 25 Screenshot Parameters Navigation gt Steering 4 11 4 1 Parameters The following table explains the parameters GOTTING
37. 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 offset track early enough to undo the offset driving Figure 10 Example drive 2 1 4 Calculation of the Steering Angle The key task of the steering controller is to keep the vehicle on the intended track This means that the center of the fixed axis is constantly kept on the track e g the center of the rear axis of a given three wheeler as shown in Figure 11 This is realized with the steering angle It is comprised of 2 components The feed back control regulator English Revision 01 Date 20 09 2012 HG 73650 Segment gt Offset drive GOTTING 16 Guidance Control in Detail HG 73650 and the feed forward control If the steering controller is correctly set 80 of the cal culated steering angle results from the feed forward control dependent on the driving conditions Only the remaining percentage of 20 are provided by the feed back control regulator 2 1 4 1 Feed Forward Control N Steering angle Feed forward control Figure 11 Feed forward control The feed forward control calculates a steering angle that keeps the vehicle on the track If the three wheeler described is e g driven on a circle the feed forward control calculates a steering angle
38. 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 Central control unit has access to the vehicle Manually operated Central control unit cannot access the vehicle Table 41 Display Control Unit Section Bahnregler Vorgaben part 2 of 2 4 12 2 Direct input options at the control unit If you enter password 222555 the following input mask will be displayed to the right of vertical dividing line Figure 32 Display after password entry Now the following input options are displayed to the right of the vertical dividing line GOTTING English Revision 01 Date 20 09 2012 67 Commissioning Name Bescon opse Table 42 Display Control Unit Input options English Revision 01 Date 20 09 2012 HG 73650 GOTTING 68 Trouble Shooting HG 73650 5 Trouble Shooting Following you will find a tabular listing of any possible malfunctions This troubleshoot ing chart lists occurring symptoms and the malfunctions that may be causing the symptoms In the third column you ll find instructions how to detect errors and how errors can ide ally be resolved If it is not possible to resolve the error before conta
39. cle Status part 2 of 7 GOTTING English Revision 01 Date 20 09 2012 44 Commissioning HG 73650 ETIENNE AF Odo Rechnung 1a dY Neu Odometry based Y position for antenna 1 since last Transponder m AG Odo Rechnung 1a dSumme Weg Odometry based distance traveled for Antenna 2 since last transponder m AH Odo_Rechnung_2 dW_Neu Odometry based for antenna 2 since current transponder Al Odo_Rechnung_2 dX_Neu Odometry based X position for antenna 2 since cur rent transponder m AJ Odo_Rechnung_2 dY_Neu Odometry based for antenna 2 since actual transponder m AK Odo_Rechnung_2 dSumme_Weg Odometry based distance traveled for antenna 2 since current transponder m AL Odo_Rechnung_2a dW_Neu Odometry based angle for antenna 2 since last transponder AM Odo_Rechnung_2a dX_Neu Odometry 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 Counts the number of calculations already carried out Int1_counter Counts the number of position impulses of antenna 1 Int2_counter Counts the number of position impulses of antenna 2 AS Zustand_Antenne_1 Status of Antenna1 1 position impulse carried out 2 not used 3 Transponder too close or side lobe 4 Antenna switched off AU Zustand_Antenne_2 Status of Antenna 2 1 positio
40. 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 controller always calculates the steering angle to point to a section on the nominal track in front of the vehicle If the steering of the vehicle is directly connected to the steering controller it is possi ble to activate a steering servo The steering servo is an subordinate controller trig gered every 5 ms It controls the steering motor in such a way that the desired steering angle will be adjusted proportional controller English Revision 01 Date 20 09 2012 HG 73650 GOTTING 57 Commissioning HG 73650 Main Menue gt Parameter Menue gt Angle Controller Variables A Angle Control Kp current 12 000000 B Angle Control Tn current 0 000000 C Angle Control Tv current 3 000000 D Angle Control Td current 0 010000 E Speed Comp Fix current 1 000000 F Speed Comp Var current 0 000000 G lower Limit current 200 000000 S H higher Limit current 200 000000 I I Max current 1 000000 Je 2 Min current 1 000000 K Typ current 0 L forward dis Fix current 1 500000 m M forward dis Var current 0 200000 m N
41. cting us please isolate the failures as precisely as possible using the table below type of malfunction time of occurrence etc i Possible diagnosis trouble Possible causes of failure shooting Velocity incorrectly dis played or set Automatic mode is not accepted is not exe cuted Rotary encoder defective or connected incorrectly Parameter increments per revo lution or wheel diameter are wrong Steering angle error When using odometry with steering angle the vehicle speed is calcu lated based on the steering angle Vehicle is not close to the selected segment No start release for the vehicle control unit Errors Request or Vehicle are displayed in menu A Main Monitor Navigation on page 33 Table 43 Trouble Shooting part 1 of 2 English Revision 01 Date 20 09 2012 1 Check the rotary encoder via menu E Test Monitor on page 40 and replace if necessary Re adjust odometry refer to chapter 4 Commissioning on page 28 Check actual angle using menu E Test Monitor on page 40 1 Drive the vehicle to the seg ment start and use SJ Show Segments to compare the coor dinate of the corresponding seg ment with the ones currently displayed Activate release function by pressing button 2 in menu A Main Monitor Navigation on page 32 or use the display see section Display and key pad of the control
42. d steering angle second part of the steering angle controller Steering Servo Switch on off of the steering servo Sterring Servo Kp Amplification of the steering servo proportional controller Table 36 Parameters Navigation gt Steering Controller part 2 of 2 GOTTING English Revision 01 Date 20 09 2012 59 Commissioning HG 73650 4 11 6 F Speed Controller The speed controller is not yet used in any vehicle Up to this point the speed control is accomplished by the vehicle control unit Main Menue gt Parameter Menue gt Speed Controller Variables A Speed Control Kp current 100 000000 B Speed Control Tn current 0 000000 C Speed Control Tv current 0 000000 D Speed Control Td current 0 000000 E Speed Comp Fix current 420 000000 F Speed Comp Var current 300 000000 G lower Limit current 1550 000000 j H higher Limit current 1500 000000 2 I I Max current 100 000000 J I Min current 100 000000 K Typ current 0 L Ringspeicher Peri current 0 M Wert Schaetzer current 0 000000 N Differenz Eingriff current 0 000000 O Zu hoch Wert current 0 000000 P Zu hoch Perioden current 0 Q Rampe eurrent 1 000000 R V Max Vorwaerts current 400 000000 ESC gt back cancel Figure 28 Screenshot Parameters Navigation gt Speed Controller The different parameters are described in the table below epe Ten 8 Tersoseome
43. de the user sends a request to the controller via the interface of the vehicle control unit the keypad or the terminal program It is possible to quit this mode at any time When requesting automatic mode the vehicle has to fulfill the following conditions the vehicle must be standing still the vehicle must be prepared for automatic mode no vehicle errors are active the determined position has to correspond to the given segment it must be possible to drive the given segment 2 1 7 Vehicle Options Fork Lift Vehicle The software of the steering controller offers various additional 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 fusion calculates the position and the heading of the vehicle By using a short term accurate odometric system encoder and the absolute tran sponder positioning sensor and or Sky Trax the advantages of both systems are com bined The odometric system is initialized through the absolute position sensor and outputs the vehicle position and vehicle heading everywhere along the track The inaccuracies accumulated within the system over time and
44. 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 effective diameter setting Table 33 Parameters Navigation gt Geometric part 1 of 2 GOTTING English Revision 01 Date 20 09 2012 52 Commissioning HG 73650 CC Tr Raddurchmesser Rechts Effective diameter of the right 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 effective diameter setting Inkremente Umdreh Resolution of the rotary encoder F Antenne 1X Offset between the center of the symmetrical axis and the transponder antenna 1 in X direction of the vehicle coordinate sys tem G Antenne 1 Y Offset between the center of the symmetrical axis and the transponder antenna 1 in Y direction of the vehicle coordinate sys tem H Antenne 2 X Offset between the center of the symmetrical axis and the transponder antenna 2 in X direction of the vehicle coordinate sys tem 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
45. distance between the axles varies when turning the less precise the tracking will be Omnidirectional vehicles are also suitable but require a different firmware than the three wheeler models GOTTING English Revision 01 Date 20 09 2012 5 Introduction HG 73650 1 3 How it works 1 3 1 System Structure Central Narrow band Control RF Modem Unit optional CN EN Guidance Controller Emergency Stop Encoder pam optional Encoder SIO 1 H Break optional Internal f Narrow band Sensor Fusion Track RF Modem Vehicle PLC Transponder Controller optional Acceleration Optional SIO3 optional m Steering Servo Hardware HG 61430 Gyro Transponder Antenna ann Motor Control VO Extension G 84300 HG 98810 e g Laser Scanner e g ZAPI Track Controller optional optional optional optional optional Figure 4 System Structure Due to the strict separation of steering controller sensor fusion and navigation system as well as the smart interaction with 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
46. ed information see chapter 4 on page 28 If the vehicle drives around a curve the intended track for the controller is calculated by the tangent at the intersection of the rear axle The needed angle to go around the curve is computed by an algorithm and added to the angle of the feed back control If the vehicle travels backwards it is mirrored at the rear axis Subsequently the steer ing angle of the mirrored front wheel is calculated and inverted 2 1 5 Velocity Calculation The velocity is obtained from the information of the support points Here the velocity of the support point just passed and the upcoming support point is interpolated Which of the 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 various additional protective mechanisms are integrated If signifi cant lateral deviations occur or if the difference between the set and actual steering angle is too large the vehicle decelerates to 0 2m s It will only accelerate to the orig inal velocity if the deviation was minimized If an error occurs or the vehicle drives beyond the end point the velocity is set to 0 2 1 6 D
47. egment EN Angle nominal vehicle heading Pos X Set value for X component of position of the symmetrical axis meters of the vehicle Pos Y Set value for Y component of position of the symmetrical axis meters of the vehicle Nominal value for speed of the vehicle nominal value for steering angle of vehicle Table 11 Main Monitor Navigation Section Target Parameters Deviation displays the difference between actual und nominal values pe sn EN Das tata aspaconentaiheveiee men Table 12 Main Monitor Navigation Section Deviation Parameters Segment summarize all data related to segments pee ee Segment received from sent to the vehicle control unit It is the most current segment Number2 Segment received from sent to the vehicle control unit It is the segment follo wing next Number3 Segment received from sent to vehicle control unit It is the segment following the next segment Number of the last crossed support point on the current segment Table 13 Main Monitor Navigation Section Segment part 1 of 2 GOTTING English Revision 01 Date 20 09 2012 33 Commissioning HG 73650 CE e Position between the support points When starting a segment sample is set to 1 raises up to 3 and is reset to 2 when reaching the third support point of the same segment the next support points are used for the reconstruction of the track Once the segment has been finished the value rises ab
48. heoretical 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 below and the equation pro vides the needed correction coefficients GOTTING English Revision 01 Date 20 09 2012 56 Commissioning wheter fret pim Perd tee upon bewe RIT DEAR IRA N aa Das EE EE Zus ae 2 Schritt LW Theo LW Vorgabe F 2 5 51 4 4 5 00052 10452 00041 s 2 10 10 s 1 o o 6 10 10 fe 6 21 20 A 6 34 30 10 6 48 40 v 00h 10275x O07 Midde ne u E Ike tatoo Fad aa le ma mires Dtm SOOM 4AM M LABTEAE Figure 26 Calculation of the correction coefficients Column A describes the required steps column B the theoretical steering angles and column C the given steering angles Comp Middel is the average offset of both equations see Table 35 on page 56 4 11 5 E Stering Controller The steering angle controller calculates the steering angle required to follow the in tended track This controller consists of two parts 1 The first part is a feed back controller in the traditional sense It is possible to parameterize this angle controller using the parameters A D P Pl or PDT1 The output of the
49. ie 17 2 1 4 2 Feed Back Control SEER RNEER nenn 17 2 1 5 Velocity Calculation ee ee ee ek Re GR RR Ge RR ee Ge ke 18 2 1 6 Driving Modes ese Ee Eeue sie RE Oa 18 ZAG ER OE OE OE OE EE tls 18 2 1 6 2 Modus Parameter Test eie ee ee Re RR Ge ee Re Re RR Re Re REG 19 2 1 6 3 AutomaticM6de Ere SERE GREG Bed SE Ee Ed eek ag ke de 19 2 1 7 Vehicle Options Fork Lift Vehicle sssr 19 22 The Internal Sensor Fusion unse 19 2 2 1 Odometric System ee ninnaa naa ea 20 2 3 Sensors for navigation nnnneersensnnnnnnsennnnnnnnnnnnnnnnnnnnn nennen 21 2 3 1 The Transponder Antenna ees ee ee ee ee Ee ER Ke Ee Re ee Ee 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 eke ee Ge ee Ge RR Ge Re GR KA ek Ge ee Ge 22 EE Sa AR RE EE EE ER NE 23 24 Vehicle Control URE ers 23 3 Jmterfdees ere oe en iN OE N RR Ee Sk ie 25 3l CAN BUS OE EE N OE 25 GOTTING English Revision 01 Date 20 09 2012 1 Contents HG 73650 EI Ser 25 SE GAN EG EE EE ORE Tee 25 EE og scan cos N EE EO ON 26 3 3 Ethernet AE NS EE OE ER OO AR 26 3 4 Serial MSN ER AE OR N EE 26 BU 2 AE N DOE EN 26 342 RA EE EE N 26 Ba C1 EE OE ee ee eee 26 IM RE IE EER OE EI 27 3 5 Tem sun 27 3 6 ei oo EE DEE EE ON OE erry 27 A se N OR EE EE EE 28 4 1 Commissioning of Communication 28 42 Commissioning Terminal Progra
50. ing of the start transponder is recorded in 1 100 For Sky Trax tags attribute 1 and 2 display the tag size in mm Due to size difference of the tags as well as differences in the height of the mounting points deviations may occur The correct value is derived from commissioning see chapter 4 on page 28 2 3 2 Sky Trax This system is based on an image processing technology usually using an upward di rected camera The camera on the vehicle is positioned in such a way that it is able to read the two dimensional tags under the ceiling Theses readings are transmitted back and the relative position and rotational orientation will be supplied Additionally the tag code will be transmitted If there is no tag in the camera s coverage area no position will be transmitted There may be several tags in the camera s detection range As the Sky Trax camera has only one ethernet interface its output must be converted by the WLAN radio 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 is from the camera the greater is the detection range and area coverage of the camera However uneven surfaces or a
51. irection and lateral transponder distance of transponder antenna 2 to the vehicle s zero point a Knickwinkel Angle of articulation angle sensor Fehler_Code Indicates the type of calculation to be carried out 1 single measurement antenna 1 2 double measurement antenna 1 3 single measurement antenna 2 4 double measurement antenna 2 Table 31 Errorlogger Vehicle Status part 5 of 7 ee G TTING English Revision 01 Date 20 09 2012 47 Commissioning HG 73650 smi Ten gt e of Quer Error between odometry and actual calculation in lateral direction Fehler_Laengs Error between odometry and actual calculation in longitudinal direction CF Fehler_W Error between odometry and actual angle calculation angular difference CG Fehler_X Error between odometry and actual calculation in X direction Fehler_Y Error between odometry and actual calculation in Y direction Warte_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 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 down EE Abw Tab Winkel Wert Maximum allowed angle error route dependent CL Abw_ Tab_Quer_Wert Maximum allowed lateral error route dependent
52. it for 2 cameras HG 738840 command box of the gyro remote control of the basic features with CAN Bus English Revision 01 Date 20 09 2012 HG 73650 GOTTING 25 Interfaces HG 73650 3 2 Profibus The device works as a slave with profibus DP VO according to DIN E 19245 T3 The interface offers an automatic baud rate detection The profibus address may be ad justed You will find detailed specifications accordingly in the reference manual 3 3 Ethernet The ethernet interface operates at 10 Mbit s For further specifications please see the reference manual 3 4 Serial Interfaces You will find detailed specifications of the serial interfaces in the reference manual 3 4 1 SIO1 SIO1 is connected to the optional internal narrow band radio modem 342 SIO2 SIO2 is a RS 232 interface with a predefined baud rate 8 bit no parity and 1 stop bit The following protocols can be configured via parameters ee ENE Camera Connection of a PC for performing edge detection with a PMD camera com pany internal use Remote con Remote control protocol of the basic functions via the narrow band radio trol modem SICK scanner Reads angles and distances from a SICK scanner company internal use Table 6 SIO 2 protocols 3 4 3 SIO3 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 Er REENEN
53. l be displayed when loading the CSV file into a spreadsheet application such as Excel fn Rowe en e enna Alpin enger based on odors Tome Jessie Ven Eiers Transponder position underneath antenna 1 in X direction m This position will be loaded via the code taken from the transponder table Transponder position underneath antenna 1 in Y direction m This position will be loaded via the code taken from the transponder table Transponder position beneath antenna 2 in X direc tion m This position will be loaded via the code taken from the transponder table Transponder position beneath antenna 2 in Y direc tion m This position will be loaded via the code taken from the transponder table t_dy_1 Lateral displacement of transponder position beneath antenna 1 m Transponder code read by antenna 1 _status_1 Status of transponder antenna 1 coma _dy_2 Lateral displacement of transponder position beneath antenna 2 m Transponder code read by antenna 2 a t_status_2 Status of transponder antenna 2 Lenkwinkel Actual steering angle Table 31 Errorlogger Vehicle Status part 1 of 7 GOTTING English Revision 01 Date 20 09 2012 43 Commissioning HG 73650 ess Dan Ten O M_auswertung Bitcoded indicates the type of the latest calculation O x 10 individual evaluation antenna 1 0 x 20 individual evaluation antenna 2 O x 40 double evaluation of antenna 1 O x 80 double evaluation of antenna 2 Sch
54. le standing Status is 1 if the vehicle is moving Lo Table 26 Main Monitor Sensorfusion Section Gyro 4 7 C Vehicle Monitor The Vehicle Monitor is an output designed for all vehicle options The output for each specific vehicle option is shown in the reference manual 4 8 D Datalogging For trouble shooting during commissioning or operation the steering controller offers two options data logging as described below and error logging described in section 4 10 on page 42 The best and more flexible solution is data logging Using this option a laptop has to be connected during operation It will log 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 1 Datalogging Parameterization of the output For the process of data logging first press button D in the main menu Subsequently the following window will be displayed Please press spacebar to start logging ESC gt back cancel Figure 18 Screenshot Datalogging Then select Hyperterminal gt Transfer gt Capture Text afterwards name the file and start recording with Hyper Terminal GOTTING English Revision 01 Date 20 09 2012 39 Commissioning ATTENTION Only then you should press the space bar A correct sequence of these steps is essential Otherwise the heading of dat
55. lechter_Transponder Latest transponder code where the odometry based distance measurement between two transponders does not comply with the distance entries in the transponder table a Winkel_Fzg Actual vehicle heading FRO Pos_X_Fzg Actual position X component m aS Pos_Y_Fzg Actual position Y component m Transponderabstand Distance between the current transponder and the previously read transponder taken from the transponder table m U Odometrieabstand Distance of the current transponder to the previously read transponder based on odometry faktor_M Odometry and antenna offsets in longitudinal direc tion faktor_N Odometry and antenna offsets in lateral direction Winkel_V_ONS Angle calculated with factor_M and factor N 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 based angle for antenna 1 since current transponder AA Odo_Rechnung_1 dX_Neu Odometry based X position for antenna 1 since cur rent transponder AB Odo_Rechnung_1 dY_Neu Odometry based distance traveled for antenna 1 since current transponder m AC Odo_Rechnung_1 dSumme_Weg Odometry based angle for antenna 1 since last transponder AD Odo_Rechnung_1a dW_Neu Odometry based angle for antenna 1 since last transponder m Odo_Rechnung_1a dX_Neu Odometry based X position of antenna 1 since last transponder m Table 31 Errorlogger Vehi
56. m iese Re 29 4 2 1 Finding Hyper Terminal Adding Hyper Terminal to the system 29 4 2 2 Parameter Settings nnrennnennnernennnnnnnennennnnnnnnnnnnnnnnnnennnn 30 4 3 Using the Terminal Program esse Re AR Re 30 4 4 Main Mari dee 31 4 5 A Main Monitor Navigation cccccccecseceessessseesteeseeees 32 4 5 1 Monitor OulputS sissies ie Re Ee Eg ge dk oe Ee ee Eg Gan de Re EE Fee 32 45 2 TT oe EE nenn 35 4 6 B Main Monitor Sensorfusion ee RA Re 35 4 7 C Vehicle MONItOF ee se Re RR Re AR Re 39 4 8 D ees ie EE EE N DE 39 4 9 E Test Monitor ee 40 4 94 Display Output OE EE EE OE OE 40 492 InputOplOns se SE EE eek 41 4 10 F ENO ON een 42 4 11 G Parameters NavigatiON ees ee se ee Re Re AA Re ee 49 AA EE EE EE N 50 411 2 AE ER ER RR OG EA 52 70 RR C ACCUNACY EE N Ee ep annette 54 4 11 4 EST ER een een 55 4 11 4 1 Parameters sies ee ea DER ee SR EE Gee ENG Ee Ge ER Ge Ee 55 4 11 4 2 Steering correCHON ee ee ee ge ee RR Ge Re Ge Re Ge AR Ge GR ee 56 4 11 5 E Stering Controller ee ee ee Ge ee Re Re Ge Re RA Re eke 57 4 11 6 F Speed Controller ee ee ee Ge Ge Re Re Re Ge GR ek RR ee 60 411 0 G Sensor FUSION casters ERGER EER GED GER een 61 4 11 8 H Vehicle Specials ee ee ee ER ER Ge Re Re ER Ee Ge Re ek Re ee ee 63 GOTTING English Revision 01 Date 20 09 2012 2 co OO N O OU Contents 4 11 9 I Datalogging Parameterization of the output i e ese ee 6
57. m distance required for positioning calculation between two transponders with one antenna and two different transponders If the transponder distance is too small the angular error will be incre ased due to the transponder antenna s read error rate If the transponder distance is too large the error rate increases caused by the inaccuracy of odometry Max Dist Double Maximum distance between the reading of one antenna and the transponder reading of another antenna The highest measurement accuracy will be guaranteed if both antennas read the same transponder simultaneously Delta Angle Max Maximum permissible angle difference between primary odometry and the comparative reference odometry secondary odometry The odometry includes two rotary encoders and one optional gyro The secondary odometry calculates the position from two rotary encoders and the actual steering angle E Delta 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 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 permissible difference between the position based on odometry and the position just calculated However if this tolerance level will be exceeded the result of the p
58. ment list with support points English Revision 01 Date 20 09 2012 11 Guidance Control in Detail HG 73650 Each row of this table is one support point The first column contains the segment num ber to which the support point belongs to The second column contains the support point number Columns 3 and 4 contain the X and Y coordinates of the support point in mm Columns 5 and 6 contain velocity data in dm s There are two velocities be cause on the one hand a connecting segment could exist or the vehicle is to be stopped at the end of the segment Therefore where the last segment is concerned or the vehicle changes direction column 5 is automatically selected If a connecting seg ment exists column 6 is selected The velocities are interpolated linearly depending on the position between the support points so 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 O the vehicle will stop before reaching the end of the segment Vehicle If the velocity is negative the vehicle travels backwarts on the segment The vehicle always moves towards the support points from the start of a segment to the end This means that when the vehicle is first to be driven in one direction on a track and then to be reversed e g when docking on and off a ramp the
59. metry Subsequently the measured values will be compared The tolerances of the angle as well as X and Y posi tion can be parameterized Odometry O will slightly differ in dis tance travelled from odometry 2 the inaccuracy amounts to about 1 of the distance travelled At the next transponder Sky GOTTING English Revision 01 Date 20 09 2012 20 Guidance Control in Detail Trax tag both odometries will be corrected and the difference between both is 0 again If the encoder is defective odometry O 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 under
60. moving a new segment into the FIFO regis ter Before Table 3 Example Shifting of segments part II In this way more than 8 segments can be driven without stopping In order to connect the segments consecutively the terminal position of one segment always has to be the starting position of the next one GOTTING English Revision 01 Date 20 09 2012 14 Guidance Control in Detail NOTE In order to prevent the steering controller from reloading a seg ment currently being changed by the vehicle control unit the rev olution period from reading the list to list stored can take one second never edit the next segment FIFO register number 1 Instead edit the segment with FIFO register number 2 2 1 14 Transmission of the segments Usually the segments will be transmitted with the CAN bus For test purposes the seg ments can be entered using the keypad membrane keyboard or via a terminal inter face For more detailed information see chapter 4 Commissioning on page 28 The steering controller receives the segments in the CAN box with the identifier 0x194 The structure of the box is described in the reference manual This box only contains one element of the buffer wich is Number of segment LowByte and Number of segment HighByte The segment numbers will be transferred as unsigned int 16 bit but internally only 8 bit will be used If a 16 bit addressing is required there is no need to change the communication
61. n impulse carried out 2 not used 3 Transponder too close or side lobe 4 Antenna switched off Zustand_Rechnung_1 Status of positioning calculation with Antenna 1 0 no calculation 1 single measurement 2 double measurement Table 31 Errorlogger Vehicle Status part 3 of 7 GOTTING English Revision 01 Date 20 09 2012 45 Commissioning HG 73650 empe mem U OO Zustand_Rechnung_2 Status of position calculation with antenna 2 0 no calculation 1 single measurement 2 double measurement AW t_Spannung_1 Signal strength generated by the transponder antenna 1 should be gt 400 AX t_Spannung_2 Signal strength generated by the transponder antenna 2 should be gt 400 Odo siSpeed Actual velocity m s AZ Richtung Direction 1 forward 1 backward BA last_t_dy_1 Position of last transponder lateral to direction of tra vel underneath antenna 1 m BB last_t_code_1 Transponder code of the last transponder read by antenna 1 last_t_dy_2 Position of the last transponder lateral to direction of travel underneath antenna 2 m last_t_code_2 Transponder code of the last transponder read by antenna 2 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 transponders too small parameter Same transponder code as before Fehler_Counter_6 Error counter for double measurement with Antenna 1
62. n_ iron tre oan othe peeso DEEL WEI IE re cancion Speed Comp Var Variable proportion of the gradient of the speed ramp in 1 50 ms multiplied by the vehicle velocity in m s lower Limit Lower limit of the speed controller first part of the steering angle controller higher Limit Upper limit of the speed controller first part of the steering angle controller Max Sets maximum permissible value of the integral proportion of the controller 3o fIMin Sets minimum value of the integral proportion of the controller Table 37 Parameters Navigation gt Speed Controller part 1 of 2 ee GOTTING English Revision 01 Date 20 09 2012 60 Commissioning HG 73650 fr Jene Tome a Controller Type Should always be set to 0 PID controller with parameterizable parts see point A D Ringspeicher Peri Time delay for the cyclic buffer of the velocity estimator not requi red for controller type 0 Wert Schaetzer Expected value of the velocity estimator not required for controller type 0 Differenz Eingriff Difference between nominal and actual value activating an incre ased influence of the controller not required for controller type 0 Zu hoch Wert Velocity difference activating brake control not required for cont roller type 0 V Max Vorwaerts Limitation of the forward speed for those vehicles using a velocity ramp V Max Rueckwaerts Limitation of the reverse speed for those vehicles applying a velocity ramp Ram
63. nce manual English Revision 01 Date 20 09 2012 HG 73650 GOTTING 21 Guidance Control in Detail It is the task of these tolerance definitions to protect a sufficient accuracy of the posi tion against incorrect measurements Thus over short distances only a measurement of high quality will be accepted This prevents a positioning quality degradation caused by incorrect readings The limits defining a position as too inaccurate can partly be adjusted or are defined according to the tables in the reference manual Those tables show that after 9 meters any measurement will be accepted This ensures the continuation of the operation af ter a long distance drive without transponders and avoids a system shut down The table shows practical experience based values 2 3 1 2 Initialization of the Transponder Sensor Fusion There are two options for the initialization of the transponder sensor fusion 1 The vehicle reads the start transponder The start transponder is a normal tran sponder which only has one possible direction to be crossed This may be the case e g at a transfer station The start transponder is marked accordingly and the start heading is recorded in 1 100 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 calc
64. neath the antenna The parameters of the transponder antenna a set via an RS 282 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 refere
65. nex The only exception is offset driving 2 1 3 Offset driving Constantly driving on the same track can lead to a strong deformation of the surface structure e g asphalt For some plants it is appropriate therefore to vary the route by a few centimeters However the track may only be moved so far that it is still possible to read the installed transponders For transfer stations end points the offset has to be switched off English Revision 01 Date 20 09 2012 HG 73650 ale GOTTING 15 Guidance Control in Detail Segment D in the steering controller can be used as a version number of the segment file Segment 1 is the transition for offset driving on the left Segment 2 serves as a tran sition for offset driving on the right Both segments have to start with the coordinates X Oand Y 0 The X direction is the longitudinal direction The Y direction represents the offset to the actual track The segments should be as short as possible Segment 3 is the return from the left off set to the actual track Segment 4 is the return from the right offset to the actual track Segment 3 decrease left Offset Segment 1 increase left Offset Zero point Segment 4 decrease right Offset Segment 2 increase right Offset Figure9 Offset segments The offset option will be released via the attributes offset left OxO0000400 and offset right 0x00000200 in the segment The offset will be released via CAN
66. ng HG 73650 epe NEE Speed Comp Var Variable proportion of the gradient of the steering angle ramp in 50ms multiplied by the vehicle velocity in m s lower Limit Lower limit of the angle control first part of the steering angle cont roller higher Limit Upper limit of the angle control first part of the steering angle cont roller Max Sets maximum permissible value of the integral proportion of the controller Sets minimum permissible value of the integral proportion of the controller Controller type Should always be set to 0 PID controller with parameterizable parts see point A D Velocity independent 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 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 Approach Lim Fix Maximum angle between the nominal track and the steered wheels velocity dependent second part of the steering angle controller Approach Lim Var Maximum angle between the nominal track and the steered wheels velocity independent second part of the steering angle controller Steeringangle Max Limitation of the calculate
67. nna possible defect of the antenna or transponder Reduce threshold for antenna position impulse re connect antenna properly Relocate the transponder Adjust parameters See section error codes in the reference manual Check the CAN box 0x191 with the CAN monitor 1 Activate the release function by pressing button E in menu A Main Monitor Navigation on page 32 or trigger the release with the display see chapter Display and key pad of the con trol unit on page 65 Load the segments in the cor rect order and or correct start points end points of the seg ment Select other vehicle options GOTTING 70 List of Images HG 73650 6 List of Images Figure 1 Example Virtual track with support points 4 Figure2 Example A selection of vehicle yDeS ii ees ee ee ee ee ee ee ee ee ee 5 Figure 3 Sketch Suitable vehicle tyDeS ie ee ee ee ee ee ee ee ee ee ee ee ee ee ee ee ee ee 5 Figure 4 System StructuF ie ee ee ee ee ee ee ee ee ee ee ee ee ee ee ee ee ee ee ee ee ee 6 Figure 5 Exemplary layout with travel commands as a combination of segments Figure 6 Example SegmenIS ei ee ee ee ee ee ee ee ee ee ee ee ee ee ee ee ee ee ee ee 11 Figure 7 Example for congruent segmenis ie ee ee ee ee ee be ee ee 12 Figure 8 Segment FIFO shifting register ee ee ee ee ee ee ee ee ee ee ee ee ee 13 Figure 9 Offset segmenIS ii ee ee ee ee
68. oller 60 Figure 29 Screenshot Parameters Navigation gt Sensor Fusion 61 Figure 30 Screenshot Parameters Navigation gt Datalogging 64 Figure 31 Display of the control unit HG 614380 ese es ee ee ee ee ee ee ee ee ee 65 Figure 32 Display after password eNntry ee ee ese cnet ee ee ee ee ee be 67 GOTTING English Revision 01 Date 20 09 2012 71 List of Tables 7 List of Tables Table 1 Table 2 Table 3 Table 4 Table 5 Table 6 Table 7 Table 8 Table 9 Table 10 Table 11 Table 12 Table 13 Table 14 Table 15 Table 16 Table 17 Table 18 Table 19 Table 20 Table 21 Table 22 Table 23 Table 24 Table 25 Table 26 Table 27 Table 28 Table 29 Table 30 Table 31 Table 32 Table 33 Table 34 Table 35 Explanation of a segment list with support points 11 Example Shifting of Segments part ee ee ee ee ee 14 Example Shifting of Segments part II nennen 14 List of the different odometric systems available including advantages ANG disadvarntage sesse ER EEN ie Ge ee ER 20 Explanation transponder IISt ee ee ee ee ee nennen 23 DIO PFOLOCOIS EE EN 26 DIOS PrOlOCOlS AR AE EE a 26 SIOA LO LOCOIS IE EA MEE ER ee ee ene 27 Terminal settings for the monitor program ee ee ee ee 30 Main Monitor Navigation Section Vehicle 32 Main Monitor Navigation Section Target ee ee ee ee ee 33 Main
69. on given is to be understood as system description only but is not to be taken as guaranteed features Any values are reference values The product charac teristics are only valid if the systems 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 notice to any third party 9 3 Trade Marks and Company Names Unless stated otherwise the herein mentioned logos and product names are legally protected trade marks of G tting KG All third party product or company names may be trade marks or registered trade marks of the corresponding companies English Revision 01 Date 20 09 2012 HG 73650 GOTTING 75
70. osition calculation may be able to be used but the accuracy output will not be increased Single Antenna Switch on switch off of the single measurements J Single Ant op Dir Setting specifies if antennas behind the symmetry axis in direction of travel will be applied K Gyro Differential odometry without a gyro means that the steering angle is calculated from the difference of the distances of the right and left wheel The disadvantage is that the steering calculation is strongly load dependent If a gyro is applied the gyro determines the steering angle The rotary encoders will be averaged and represent only a lengthwise movement The advantage is a load independent steering angle Primary ONS Typ The position is calculated by the primary odometry Table 38 Parameters Navigation gt Sensor Fusion part 1 of 2 as GOTTING English Revision 01 Date 20 09 2012 62 Commissioning HG 73650 epe ome O O Secondary ONS Typ Secondary odometry is compared to primary 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 Delta Posi Max P Maximum permissible differencebetween odometry based transponder positions and the positions provided in the transponder list in percent Transp Ant Typ Types of transponder antennas G 71720 Used for
71. ove 3 as there are no more support points available Attrib The current attribute is displayed in hexadecimal format The 16 lower bits are pre used internal bits 16 upper bits are freely programmable see section 2 1 2 on page 15 Status As long as the vehicle is still in front 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 Table 13 Main Monitor Navigation Section Segment part 2 of 2 Parameters Error summarize the different errors that might occur Name nenn Table 14 Main Monitor Navigation Section Error Parameters Steering summarize the components of the steering angle Me 7 l Deviation Part ofthe steering angle that is generated from the deviation of the nominal position Part of the steering angle that is generated from the curvature of the target course Table 15 Main Monitor Navigation Section Steering Parameters Status indicate the status of the steering controller EC TE Status of the navigation 50 ms timer that is running the navigation Status of the main program interface user Table 16 Main Monitor Navigation Section Status GOTTING English Revision 01 Date 20 09 2012 34 Commissioning In case Clearance is set to 1
72. ows next The tracks to be driven on are defined from a combination of segments that for example state where the vehicle has to turn A travel command can be entered at the central control unit the vehicle control unit or 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 well as Segments can be exported imported and displayed This inter face can also be used to update the internal operating software on the track guidance controller A display with a foil keyboard is integrated into the steering controller in order to enter the segments and show status information English Revision 01 Date 20 09 2012 HG 73650 GOTTING 8 Introduction HG 73650 1 4 Preconditions Options If the internal sensor fusion is to be used at least one incremental rotary encoder must be used Please ensure that this is a push pull type with output voltage of 5 to 25 V and two tracks perpendicular to each other Depending on the odometry the Gyro HG 84300 can also be used to improve accuracy and for redundancy If a transponder system is to be used the HG S71720 system can be connected via the
73. parity one stop bit CAN 1 Protokoll Protocol CAN 1 the following protocols are currently available CAN Universal the standard protocol CAN Daimler CAN Fendt CAN 1 Baudrate Baud Rate of CAN interface 100k 125k 250k 500k and 10000k are possible CAN 2 Protokoll Protocol CAN 2 the following protocols are available Ser CAN steering servo Berger Lahr Lenze Las G tting laser scanner Kni Articulation angle sensor Kam G tting optical line tracker camera Rem Remote control via CAN CAN 2 Baudrate Baud Rate of CAN interface 2 100k 125k 250k 500k and 10000k are possible Fusion Senden Data of the internal sensor fusion is put on the CAN bus CAN Mes sage Identifier Ox192 and 0x193 Log Seg End Steering controller keeps a once reached segment end even if the vehicle slides backwards Vehicle Symmetrie If this parameter is released it is possible to move symmetrical vehi cles e g with symmetrical steering from both sides onto the guidance line Ja Navigation Releases the steering controller Table 32 Parameters Navigation gt Main Menu part 2 of 3 GOTTING English Revision 01 Date 20 09 2012 51 Commissioning HG 73650 rey nome Tome _ O Simulation BR Can be switched on for debuging purposes Sensor fusion will then be stopped The steering controller calculates its position using the selected segments S Profibus address Profibus Adress 0 to 126 At Profibus address 127 the bus is s
74. pe 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 Table 37 Parameters Navigation gt Speed Controller part 2 of 2 4 11 7 G Sensor Fusion Secondary ONS Typ current 2 Delta Posi Max P current 0 000000 Transp Ant Typ current HG 71720 Skalierung Sky T current 0 000000 Main Menue gt Parameter Menue gt Sensorfusion Variables A Min Dist Reading current 0 300000 m B Min Dist Single current 0 500000 m C Max Dist Double current 0 000000 m D Delta Angle Max current 400 000000 u E Delta X Pos Max current 10000 000000 m F Delta Y Pos Max current 10000 000000 m G Delta Posi Max current 0 100000 m H Max Tol Tr ONS current 0 100000 m I Single Antenna eurrent On J Single Ant op Dir current On K Gyro current On L Primary ONS Typ current 2 M N O P ESC gt back cancel Figure 29 Screenshot Parameters Navigation gt Sensor Fusion The different parameters are described in the following table GOTTING English Revision 01 Date 20 09 2012 61 Commissioning HG 73650 e pe EEN A Min Dist Reading The antenna will only trigger a position impulse if a certain minimum distance is covered This prevents a side lobe from generating a position impulse Min Dist Single Minimu
75. re 2 monitored wheels on 1 fixed axle Advantage less load dependent The distance travelled by the vehicle is the Disadvantage additional gyro average distance travelled by both wheels required The alteration in heading is determined by a gyro There are 2 monitored wheels on 1 steered Disadvantage inaccuracies in tight axle The alteration in heading angle is deter turns may occur mined by the steering angle Load dependent if the vehicle has airfilled rubber tires There are 2 monitored wheels on 1 steered Advantage less load dependent axle The distance travelled by the vehicle is Disadvantage additional gyro the average distance travelled by both required wheels The alteration in heading is measured by a gyro Table 4 List of the different odometric systems available including advantages and disadvantages All odometric systems have the advantage to be highly accurate over short distances and are prepared to supply the vehicle position and heading at any time At start up first of all the position must be initialized The accuracy of odometry is affected over long distances and results in an accumulation of errors of the sensors and calcula tions This may possibly cause considerable deviations Sensor failure detection is possible by comparing two different odometric systems Example The position of a truck is determined by odometry 2 primary odometry Additionally odometry O will be calculated also secondary odo
76. re must be two segments for the same path NY Segment 1 a Segment 4 The attribute field is located in column 7 The attribute is subdivid ed into 16 higher an 16 lower bits The lower bits refer to internal functions of the guidance controller See the reference manual for further detail The 16 higher bits are freely available and are passed to the vehicle control unit Segment 2 Segment 3 Ramp Figure 7Example for congruent segments GOTTING English Revision 01 Date 20 09 2012 12 Guidance Control in Detail Processed segments g Support point ee Support point Segment Register Segment number Segment Support point Support point Segment Segment Segment Segment FIFO Segment shifting register Segment Segment Segment Segment Segment Segments to be Segment processed EER EE Er Figure8 Segment FIFO shifting register 2 1 1 2 Segment search When the guidance of the vehicle is initialized only one position of the vehicle is known at first To identify the currently drivable segments and to transmit them to the central control unit a segment search can be carried out During the segment search the track controller tests all the segments stored for drivability The segment search can take several seconds depending on the number of segments It is triggered by setting bit 4 in byte 1 of CAN Box 0x194 The steering controller must be in waiting mode
77. ring controller has several interface options providing data transmission These include 2 CAN 1 Profibus 1 Ethernet and 4 serial RS232 interfaces Addition ally the optional internal radio modem can be accessed via an integrated interface This chapter provides an overview of the different interfaces In the annex of the refer ence manual you will find a tabular listing of the data actually transferred NOTE You will find the hardware description of the interfaces in the pro vided user manual for control unit HG 61430 3 1 CAN Bus Detailed specifications of the CAN messages are described in the reference manual 3 1 1 CAN1 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 communication with IO extension 3 1 2 CAN2 Interface 2 is responsible for the communication of the additional functions of the steering controller These include communication with the laser scanner communication with the steering servo communication with the angle sensor for backward movement of the trailer communication with guide wire antenna HG 73350 communication with evaluation un
78. riving Modes During normal operation of the vehicle two different operation modes are used The idle mode see section Abschnitt 2 1 6 1 and the automatic mode see section 2 1 6 3 In idle mode the vehicle can be operated by a driver or the segment search can be carried out In the automatic mode the steering controller controls the vehicle The parameter test mode see section 2 1 6 2 will only be accessed during commis sioning NOTE All other modes are applied in test carriers prototypes or are D applicable for demonstrations on exhibitions They are not rele vant for productive systems 2 1 6 1 Idle Mode This mode allows to operate the vehicle manually or the vehicle control unit can initiate a segment search GOTTING English Revision 01 Date 20 09 2012 18 Guidance Control in Detail 2 1 6 2 Modus Parameter Test This mode can only be activated if the vehicle is standing still In this mode all basic functions can be tested during commissioning For this purpose the terminal program provides a special menu where you can enter velocity and steering angle via the key board directly see section 4 9 on page 40 Important characteristics including incre mental data as well as actual velocity and steering angle will be displayed here 2 1 6 3 Automatic Mode In this mode the steering controller guides the vehicle If the vehicle shall be operated manually by a driver you have to exit this mode To access or quit this mo
79. rove the odom etry AS some odometric calculations tend to be dependent on load we recommend the integration of the gyro If an 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 controller The purpose of the steering controller is to guide the vehicle on the track It needs in formation about which track to drive on and the current position of the vehicle The central control unit tells the steering controller what segment to drive on The segments were generated in the CAD software see below represented by their support points Using the current vehicle position and angle the relation to the segment is known Then the steering angle and vehicle velocity can be calculated 2 1 1 Segments Segments are the connecting paths between branches and end points The routes are compiled from these segments from the start to the finish Example A small area has four stations To move the vehicle from the sta tion 1 to station 3 the vehicle has to pass segments 4 5 8 and 9 To return to station 1 with the same vehicle orientation the vehi English Revision 01 Date 20 09 2012 HG 7365
80. rt 1 of 2 GOTTING English Revision 01 Date 20 09 2012 65 Commissioning HG 73650 Tan pe m Left minimum supply voltage value Center current value of supply voltage Right maximum value of supply voltage Minimum and Maximum values adjust themselves to the current value within a short time Nothalt See emergency stop reference manual See error automatic drive reference manual Table 39 Display Control Unit Section Sensor Fusion part 2 of 2 The section Bahnregler steering controller displays the following ENE NEE EEN Modus See section vehicle options in the reference manual Fer Soosecienenereseimme weers mana 11 LL a Table 40 Display Control Unit Section Bahnregler The section Bahnregler Vorgaben steering controller default values indicates the target values CC Abweichung Maximum permissible displacement at this position depending on the m attribute Genauigkeit Left worst permissible accuracy in meters m Right worst permissible accuracy coded in the output telegram Segment 0 Left segment 0 preset by the vehicle controller current segment Right segment 0 processed by the steering ae current segment Table 41 Display Control Unit Section Bahnregler Vorgaben part 1 of 2 GOTTING English Revision 01 Date 20 09 2012 66 ma pa OOOO Segment 1 Left Segment 1 preset by the vehicle controller next upcoming segment Right segment 1 processed
81. small and capitalized characters egually Sections figures and tables are automatically numbered consecutively 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 indicating the system designer auther revision and date of issue In addition the information regarding revision and date of issue are included within the footer of each page enabling the exact allocation of the information with a date and cer tain a system revision Online Version PDF and printed manual are generated from the same source anal Due to the consistent use of Adobe FrameMaker for the generation of documenta A tion all directory entries including page numbers and subject index and cross references in the PDF file can be clicked on with the mouse and will lead to the corresponding linked contents GOTTING English Revision 01 Date 20 09 2012 74 Copyright and Terms of Liability 9 Copyright and Terms of Liability 9 1 Copyright This manual is protected by copyright All rights reserved Violations are subject to pe nal legislation of the Copyright 9 2 Exclusion of Liability Any informati
82. t Steering ee nennen 56 English Revision 01 Date 20 09 2012 HG 73650 GOTTING 72 List of Tables Table 36 Table 37 Table 38 Table 39 Table 40 Table 41 Table 42 Table 43 Parameters Navigation gt Steering Controller 58 Parameters Navigation gt Speed Controller 60 Parameters Navigation gt Sensor FUSION ee ee ee ee ee ee 62 Display Control Unit Section Sensor Fusion 65 Display Control Unit Section BahnregleF ie ee ee ee ee ee 66 Display Control Unit Section Bahnregler Vorgaben 66 Display Control Unit Input options eneenenenenn 68 Trouble Sho6llng asus 69 English Revision 01 Date 20 09 2012 HG 73650 GOTTING 73 Essential Information for Reading this Manual HG 73650 8 Essential Information for Reading this Manual In documentations of G tting KG the following symbols and assignments were used at the time of printing this manual Security advices have the following symbols depending on the emphasis and the degree of exposure NOTE 2 ATTENTION AN CAUTION AN AN WARNING Continuative information and tips are identified as follows l Tip N 2 Program texts and variables are highlighted by using the font Courier Whenever input of key combinations is required for the operation of programms the corresponding Keys are Hignlighted in G tting KG programs it is usually possible to use
83. t and display of transponders Sky Trax tags 3 6 101to4 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 104 is the output for emergency stop The exact allocation is shown in the corresponding tables in the ref erence manual GOTTING English Revision 01 Date 20 09 2012 27 Commissioning HG 73650 4 Commissioning For hardware mounting please see our included hardware description for control unit HG 61430 CAUTION When starting the commissioning of the vehicle ensure that all AN safety devices are installed and functional NOTE At the beginning of commissioning the vehicle has to be lifted up D from the ground If the vehicle has a vehicle control unit recommended part of the commissioning tasks can be fulfilled without the vehicle itself This primarily affects the communication between the steering controller and the vehicle control 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 T PCAN Explorer 73840 PDO1 lek dk Tank Symbol Macro Trace Widow Hep 4 BLS YT TIENIE ar as On x Be 00 40 48 00 00 00 00 93 50 00 00 06 00 00 00 00 93 50 00 00 00 00 00 00 00 33 50 00 00 00 00 00 00 00 93 50
84. 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 Steering angle control ie Angle error d Lateral deviation Forward fix Forward variable Figure 12 Feed back control This error consists of two parts The error of the angle and the lateral deviation The steering angle is calculated in such a way that the steering wheel points towards a point within the intended course in front of the vehicle The distance between this point and the center of the rear axis consists of one fix and one variable velocity de pendent component GOTTING English Revision 01 Date 20 09 2012 17 Guidance Control in Detail HG 73650 If the vehicle starts moving with this calculated steering angle the point towards which the vehicle aims moves on In this way the vehicle returns to its intended track without oscillating provided the steering velocity is sufficiently fast and the vehicle speed ad justed To ensure a reduction of the oscillation for movements under worse conditions higher velocities or slower steering different parameters can be adjusted Thus the angle at which the vehicle returns to the intended track can be limited dependent on the cur rent velocity For more detail
85. the vehicle control unit can operate the steering con troller If there are any manual entries via the terminal software this clearance will be cancelled Then the steering controller only reacts to inputs from the terminal software 4 5 2 Input Options Tome son R F faut ales rv aug void Sabon Table 17 Main Monitor Navigation Input options 4 6 B Main Monitor Sensorfusion HG 73650 Main Monitor Sensorfusion Antennal Antenna2 Odometrie Status 0 Status 0 Status 0 IT Code 0 Code i 0 Angle 0 00 p Delta Y 0 000 m Delta Y 0 000 m Pos X 0 00 m Sum Vo 0 Sum Vo 0 Pos Y 0 00 m Current 0 Current 0 Speed 0 00 m s Reading 0 Reading 0 Accur 100 00 m Pos W 0 000 m Pos W 0 m Poss Y lt 2 0 000 m Poss Y 3 0 m Sky Trax MC1 MC2 0 0 Odometriel Odometrie2 MW1 MW2 0 0 Angle S 0 00 Angle D 0 00 u Counter 0 0 Dev X S 0 00 m Dev X D 0 00 m Abstand 0 00 0 00 Dev Y S 0 00 m Dev Y D 0 00 m Winkel 0 00 Dist 0 00 m Dist 0 00 m Pos d 0 00 0 00 Deviation Single Deviation Double Gyro Angle S 0 00 Angle D 0 00 Angle 0 00 Dev X S 0 00 m Dev X D 0 00 m Offset 0 00 Dev Y S 0 00 m Dev Y D 0 00 m Move 0 ESC gt back cancel Figure 17 Screenshot Main Monitor Sensorfusion English Revision 01 Date 20 09 2012 GOTTING 35 Commissioning HG 73650 Antenna 1 defines the status of antenna 1 ene oewiien m ENE SEE EIN EB EL ICE ENE
86. tion Ziel Position Abweichungen Fehler Lenkwinkel Stuetzpunkt Segmente Rx Segmente Tx Richtung Genauigkeit Mesungen BR Fahrzeug Abh 1 Segmentsuche QA7AAVAWPTOANHDUBWNHEH SOO GO 0 6 0 000 88 oO SoH ESC gt back cancel Sensorfusion Inkremente Odometrie 1 Odometrie 2 Odometrie Rechnung Odometrie Lenkung Transponderantenne Transponderantenne Voraussetzungen Genauigkeiten Gyro Gewichtungen PMD Ausgabe Odomet rie Sky Trax fahrend loggen SBCCGCHNDWOVORARARQH EE Figure 30 Screenshot Parameters Navigation gt Datalogging Due to the amount of data please see the table with complete listing in the reference manual English Revision 01 Date 20 09 2012 Odometrie Rechnung 1 Ooo F OO Oo Oo 9 9 2 2 oO 82 H GOTTING 64 4 12 Display and key pad of the control unit The display of the control unit provides an overview on the operating status of the steering controller even without a laptop Figure 31 Display of the control unit HG 61430 NOTE Before entering the password only the displayed values are avail D able 4 12 1 Status output on the Display The section Sensorfusion provide the following data C m _ X position of vehicle odometry Im Y position of vehicle odometry a Velocity of vehicle odometry Genauigkeit On the left accuracy of sensor fusion On the right traveled distance since the last referencing Table 39 Display Control Unit Section Sensor Fusion pa
87. ulated After the third transponder the position is confirmed and the accuracy is set to a good value provided the position of the third transpon der corresponds to the position of the previous ones If the vehicle is steered by a driver manual mode it sometimes happens that the tran sponders are not crossed This results in a decreasing accuracy of the odometry As the system has not been switched off the only remaining possibility for initialization is number 2 2 3 1 3 Transponder List The transponder list is a CSV file separated by a semicolon It can be created and edited with Excel or other programs The steering controller can import and export this list with the X modem protocol using a terminal program Additionally the list can be displayed from the steering controller with the terminal program 1 1 2480 4555 9000 0 0 1 2 2 2462 3171 0 0 0 0 3 46 6000 0 0 0 0 0 4 4336 9500 0 0 0 0 0 5 8012 031 6891 9000 127 127 1 These values have the following meaning for the steering controller English Revision 01 Date 20 09 2012 HG 73650 GOTTING 22 Guidance Control in Detail HG 73650 sone ee ron Yo av e p Temp E C EDEN ENE slee le fo Table 5 Explanation transponder list The first column displays the serial numbers of the transponder tags The second col umn includes the transponder or Sky Trax codes The following two columns stand for the position in X or Y direction In the fifth column the head
88. unit on page 65 Check the indicated error mes sage in the reference manual section error code GOTTING 69 Trouble Shooting HG 73650 Possible diagnosis trouble Possible causes of failure shooting Vehicle does not steer Transponder is not eval uated Driving in automatic mode not possible Segment list is not accepted Table 43 Some vehicle types only steer while driving Steering angle not properly parameterized Transmission fault steering angle not transmitted Signal strength of the transpon der is too low position impulse missing Not enough distance to other transponders 1 Error is displayed in menu A Main Monitor Navigation on page 32 Velocity is not transmitted No release for vehicle control unit Incomplete sequence of seg ments detectable via menu A Main Monitor Navigation on page 32 if 0x00008000 is dis played in the section Condition Vehicle option is not suitable for segment parameters Trouble Shooting part 2 of 2 English Revision 01 Date 20 09 2012 1 Try steering while driving 2 Check the following parame ters Make sure none of the parameters is 0 D Steering Scaling Comp Left 1 Comp Right 1 E Speed Comp Fix Steering angle Max Check the CAN Box 0x191 with the CAN monitor Check ground reinforcement minimize reading distance check adjustment of ante
89. witched off T Ethernet IP Ethernet IP 1 1 1 1 up to 255 255 255 255 At IP 0 0 0 0 ethernet is switched off Table 32 Parameters Navigation gt Main Menu part 3 of 3 4 11 2 B Geometric This menu enables setting the geometry of the steering controller and the sensor fu sion Main Menue gt Parameter Menue gt Main Geometri Variables A Achseabstand current 1 200000 m B Radabstand current 0 397000 m C Raddurchmesser Li current 0 270000 m D Raddurchmesser Re current 0 270000 m E Inkremente Umdreh current 2300 000000 F Antenne 1 X current 0 810000 m G Antenne 1 Y current 0 000000 m H Antenne 2 X current 0 000000 m I Antenne 2 Y current 0 000000 m J Versatz Lenkung current 0 000000 m K Antennen invert current L Sky Trax X current 0 340000 m M Sky Trax Y current 0 000000 m ESC gt back cancel Figure 23 Screenshot Parameters Navigation gt Geometric The following table explains those parameters epe Tr EEN A Achsabstand Describes the distances between the symmetrical axis per pendicular to the vehicle through the center of the circle in curves and the steered axis DE Radabstand Distance between the centre of right wheel and centre of left wheel Raddurchmesser Links Effective diameter of the leit wheel at a given resolution of the encoder If the encoder rotates with the same rotational speed as the wheel then the effective

Download Pdf Manuals

Related Search

Related Contents

Corsair H2100  DCR-DVD101E  Service Manual - Dixie Sewing Machine 1-800-289-1554    LS-622A/LS-822A Powered live mixer  DeLOCK PCI Express Card/3 x FireWire  English - Total Sonic      

Copyright © All rights reserved. Failed to retrieve file