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Summary of Contents for Toyota AutoPilot
- Page 1 AutoPilot System User Manual AutoPilot System at Volvo GTO Powertrain, Sweden <Draft version, 2017-05-19>...
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Page 2: Table Of Contents
Status Info ............................ 17 FIGURE 26. LOG OF CURRENT INFORMATION.SYSTEM EXCEPTION HANDLING ......17 I/O signal lost..........................18 Fetching – AutoPilot failed to pick-up load ................... 18 Fetching - location empty ......................18 Deposit – failed to drop-off ......................18 Deposit - drop location occupied .................... -
Page 3: Autopilot System
1.1 Home station A home station is a configured location in the map where the AutoPilot can stand when it does not have a transport order. This means that when the AutoPilot is free, do not have an order, it will move to its home station and whenever the AutoPilot gets an order it will leave the home station and move to the location the transport order demands. -
Page 4: Equipment
Liquids and condensation on the floor represent safety risks because it may lead to the AutoPilot • braking distance being increased considerably. Cleaning of the floor must be done in such a way that the surfaces are dry when an AutoPilot is • operating in the area. -
Page 5: Steering Arm And Keypad
AutoPilot is in insertion mode. 2.2 Steering arm and keypad The steering arm is equipped with a keypad which is used when logging on and off to the AutoPilot. Log in Press “1” and green button to log in for manual use. -
Page 6: Safety Equipment
2.3 Safety equipment 2.3.1 Standard safety equipment The AutoPilot is equipped with the following standard safety equipment: Figure 5. The figure shows Fork tip sensors, Emergency stop switches, Side sensors and safety scanner (s3000). -
Page 7: Extra Safety Equipment
2.3.2 Extra safety equipment The AutoPilot is equipped with the following extra safety equipment: Figure 6. The figure shows Safety sensor (s100) and rear safety sensor (s300). -
Page 8: Safety Scanner S3000
Due to the fact that the slow down field is optimized against solid non-moving objects, there is a risk that the AutoPilot not will be able to come to a complete stop if an object is moving towards the... - Page 9 AutoPilot driving at about 50% of max speed. AutoPilot turning to the right. Figure 8. The figure shows how the detection range depends with speed and steering angle.
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Page 10: Side Sensors
2.3.4 Side sensors The AutoPilot is equipped with optical side sensors, see Figure 9. If an object is detected by the side sensors the Autopilot will emergency stop and, when the object is removed, the AutoPilot will continue to move again after a few seconds. -
Page 11: Fork Tip Sensors
Fork tip sensors are used in order to secure that the station is empty during an unload operation. The fork tip sensors are active at all time when the AutoPilot is reversing but are turned off when the AutoPilot is entering a station. -
Page 12: Indicators
Figure 12. The figure shows the dynamic detection field for s100. 2.3.9 Indicators The AutoPilot is equipped with indicators (lights and horn) in order to alert the environment when the AutoPilot turns, changes direction from forward to reverse or opposite, or when an error has occurred, see Figure 13 and Table 2. -
Page 13: Autopilot Handling
4. Hold one of the white buttons until it stops blinking, which means the AutoPilot is driving on its own. Note! The AutoPilot will always insert in a forward direction so make sure to position it so that it can smoothly insert in to the system. -
Page 14: Changing Modes
Move the AutoPilot to a better position and try to insert again. If the AutoPilot has been in manual mode for a while, the steering arm is up and the display on the Face box says “Steering arm” it may be necessary to log off and log in again using the keypad on the steering arm in order to successfully insert it to the system again. -
Page 15: Cway
AutoPilot in the layout, see Figure 17. CWay has a pre-set graphical configuration for intuitive use. Figure 17. The figure shows a part of the layout in CWay when the AutoPilot is located at the home/charging station. -
Page 16: Carriers
The Carrier Buffer is a table that provides information about different AutoPilots in the system including current segment, PLC status bits, if the AutoPilot is blocked, if the AutoPilot is in automatic or manual mode etc. To access the Carrier Buffer, press Carrier then “Carrier Buffer”. -
Page 17: Visual Representation Of Autopilot
4.3 Visual representation of AutoPilot In order to give the user quick information about the current state of the AutoPilot or communicate an error, the AutoPilot is represented in different colours. The meaning of the different colours can be seen in Figure Figure 22. -
Page 18: Toyota Order Manager User Interface
From the “Mission” view it is possible to abort an order. To abort an order, click “Abort” located right most of the order row, see Figure 24. This can be done before or after the AutoPilot picked up the goods. However, if the AutoPilot already picked up the goods and the order is aborted, the operator manually needs to unload the AutoPilot and update the “Overview”... -
Page 19: Status Info
This chapter describes how different system exceptions should be handled by the user. If the AutoPilot is in need of manual intervention, an alert alarm will be switched on and an alarm lamp will be turned on in order to quickly notify operators. -
Page 20: I/O Signal Lost
6.2 Fetching – AutoPilot failed to pick-up load If the AutoPilot fails to pick-up the load during its load cycle, the AutoPilot will stop, beep and flash the indication lights while waiting for manual intervention. To solve this, the operator should first and foremost always let the AutoPilot perform the load cycle automatically by action (1), if this dosent work try action (2) : 1. -
Page 21: Abort An Order
3. Re-insert the AutoPilot with its current load into the system. The Auto Pilot will then continue with the current order and deposit the load at the drop location 6.6 Abort an order An order can be aborted at any time. There is no requirement that the system is in a particular mode, or the AutoPilot executing this order is stopped. -
Page 22: Face Box Messages
Steering Arm - This is either caused by an error in the steering arm or because the AutoPilot is in manual. If it doesn’t work to insert the AutoPilot into the system, log off and on again on the steering arm and then insert it again. - Page 23 Drive error - The drive encoder had an error during a lift operation, restart the AutoPilot by unplugging the battery and then plug it back in and insert it in to the system. Autoinsert - This means that the AutoPilot is inserting into the system.
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