User Manual - Forsberg Services
Contents
1. 5 ee Ne ee 6 5 ODIONAV SOHWALE AENOR TERA EEE 7 DASS 7 5 Eois aati tac ae ee ate eed ot 7 So fam ee S ee 8 S4 Fe CARON rai wise ee nee Seine 9 SO PA fe ac 21114 0 9 5 6 SO OS COM Ge ee ee fen 9 see a 9 9 a 10 59 10 5 10 Status ie 10 9 11 Trae LIM StalUs aussen Riemann 11 9 12 ee ee 11 6 ea ee Den ee ne A 12 DL EINE TE We de Re 12 OS 12 6 3 Delne EINES ee 12 6A AUTO RECHFA nen et nenne 12 Ts UID a a a a a 13 Ss ea a ee 13 Forsberg Services Ltd SB E RG OptoNAV User Manual 3 Figures Figure 1 OptoNAV System 5 Figure 2 Camera Feed with drive 1 nenne 6 Figures Camera VISIDINy naar 6 Figure 4 RTG VISUATINGICAHON axis sis essentiellen 9 IQUE2. m EEE 4 De Re Chet nee ee FREE BEE oe E E D M AL _ RTG Visual Indication A Visual representation of RTG Heading and position Camera Feed ala Green Good camera Red Poor camera data or insufficient observations Status Bar Displays current operational status of a5 on screen hints OptoNAv software as well REID m 4 i o gt a En 295 cee 0p ES a i 5 an LT E an D D Camera views Images from camera 1 and camera 2 OptoNAV User Interface Forsberg Services Ltd SB E RG OptoNAV User Manual 5 4 RTG Visual Indication The RTG visual indication displays the heading and position of the RTG in comparison with the drive line The drive line is shown in green and the RTG is shown by the blue circle with its heading displayed by the blue line If there is any movement by the RTG to the left or right this will be displayed by movement of the blue circle to the left or right The lane limits are displayed by the amber and red shadings a a Ex Sy at a oe ec
3. OSIMON A era 9 Figure 6 GPS POSION ee et ot ete 9 CANCES a tai ne agente asd ee 9 Fig re 9 DITCCUON IROICQIOF 10 Figure O Stall Se Dak ee ie 10 Forsberg Services Ltd SB ERG OptoNAV User Manual 4 Introduction 4 1 OptoNAV The OptoNAV system assists the RTG operator by providing a visual camera reference of the RTG in relation to the driveline Two cameras mounted each side of the vehicle continually monitor the direction angle and accuracy of the RTG to the driveline by image processing techniques The Northing and Easting position derived from these images are then compared with given system parameters Any RTG deviation from these parameters will be visually displayed to the Operator via the traffic light display screen in the cabin By interfacing the OptoNAV system with the onboard RTG Assisted Steering Module it can provide a seamless reliable fallback in the event of poor GPS data Therefore OptoNAV will still give the Operator a continuous visual of driveline accuracy or obstructions 4 2 System Overview The OptoNAV system is a combination of hardware and software that provides the user with the ability to navigate using machine vision The diagram below shows the OptoNAV system design GPS RTE Receiver Ta Forward Camera OptoNAW ICE Box ar Rear gt Camera Driver Console Assisted Steering Modu
4. M a a Sa 7 a 7 p f wi oe io Fa oe oe 4 i as i re EHG x 7 gt en Figure 4 RTG Visual Indication 5 5 RTG Position FTG Position The RTG position box shows Hortkings 5236592 44 Northings Northing RTG position calculated from the image and the available GPS data E ashings 244633 1 3 Eastings Easting RTG position calculated from the image and the available GPS data Along Track 50 1 2 Along Track Distance the RTG has moved from its originating position es Camera Height Height of the camera from the Camera Height 20 41 floor Std Dev The quality of the position in meters std Dew 0 06 Figure 5 RTG Position 5 6 GPS Position The GPS position box shows receiver in meters E astings 244633 1 2 Height Height from sea level received from GPS GPS Position Northings Northing position received from GPS Northing 52388248 Eastings Eastings position received from GPS receiver in meters receiver Height aq 47 Figure 6 GPS Position 5 7 Lane Limits The Lane Limits section provides a guideline for the cranes Lane Limits movement from the drive line They are provided as a safety Lower Limit cm mech
5. User Manual FORSBERG SERVICES LTD 1 WATERVIEW WHITE CROSS LANCASTER LA1 4XS UNITED KINGDOM TEL 44 0 1524 383320 FAX 44 0 1524 848374 F064990 09 0001 v2 01 Forsberg Services Ltd SB RG OptoNAV User Manual 1 Propriety Notice Information in this document is subject to change without notice and does not represent a commitment on the part of Forsberg Services Limited The system described in this document is furnished under a non disclosure agreement The document may be used or copied only in accordance with that agreement It is against the wishes of Forsberg Services Limited to copy the document on any medium except as specifically allowed in the non disclosure agreement No part of this document may be reproduced or transmitted in any form or by any means electronic or mechanical including photocopying or recording for any purpose without the express written permission of Forsberg Services Limited The information within this document is understood to be true and correct at the time of publication 2007 Forsberg Services Limited All rights reserved Forsberg Services Ltd SB RG OptoNAV User Manual 2 Contents Ti Propriety NOlIC Een 2 2 COMMONS ee niche Tran dee nee een 3 3 FIGUES een 4 4 INITOQUCHON ee eee 5 DON AN ee a ee ee A 5 4 2 SVStem OVETVIEW ee es ee 5 8VStem Deals
6. drive line 2 The drive line located in the Camera 2 view field Left click on nearest visible Using the mouse left click on the nearest point of drive line 2 point on drive line 2 The drive line located in the Camera 2 view field Both Lines Defined A drive line has been defined in both camera views Course Good RTG is within the lower lane limits Heading off course RTG has exceeded the lower lane limit but is still within the upper lane limit Check Position of Drive RTG has exceeded the upper lane limit Line RECORDING Auto Record function has been activated and is recording data BAD CAMERA 1 DATA Poor image conditions or insufficient data for camera 1 to calculate RTG navigation BAD CAMERA 2 DATA Poor image conditions or insufficient data for camera 2 to calculate RTG navigation BAD CAMERA 1 amp 2 DATA Poor image conditions or insufficient data for both cameras to calculate RTG navigation 10 Forsberg Services Ltd SB RG OptoNAV User Manual 5 11 Traffic Light Status OptoNAV uses a traffic light system to prompt the system status displaying either a green amber or red light The status is displayed along the bottom of the user interface gt Green Light A green light will be displayed if the drive line is visible in both measure boxes and the RTG is travelling on good course Amber Light When the amber light is displayed the drive line is only visible in one measure box There are several reas
7. anism As a default this is set as 10 centimeters for the lower limit and 15 for the upper limit If this threshold is a reached an alert will display on the status bar and the traffic Upper Limit E n light The lane limits can be adjusted by an expert user in the administrator options Figure Lane Limits Forsberg Services Ltd SB E RG OptoNAV User Manual 5 8 Direction Indicator The direction indicator will provide information on the RTG s heading and it s offset The heading data is displayed in degrees relative to the drive line The Left Right data is provided in meters 1 28 deg from the drive line Heading Left Right 0 04 m Figure 8 Direction Indicator 5 9 Status Bar The Status bar displays the the operational status of the OptoNAV software this will also prompt the user when input is required and provide hints for operation The messages are displayed in the tabl below Status Figure 9 Status Bar 5 10 Status Messages Message Meaning Left click on furthest visible Using the mouse left click on the furthest point of drive line 1 point on drive line 1 The drive line located in the Camera 1 view field Left click on nearest visible Using the mouse left click on the nearest point of drive line 1 point on drive line 1 The drive line located in the Camera 1 view field Left click on furthest visible Using the mouse left click on the furthest point of drive line 2 point on
8. le Figure 1 OptoNAV System Diagram 4 3 System Details The OptoNAV system consists of the following components OptoNAV ICE Box Industrial PC with OptoNAV software pre installed OptoNAV ICE Box Industrial PC Mains Adapter 2x High Performance Colour CCD Camera with lens Combined Video and Power Cable Phono to BNC Adapter pre fitted to cable Mains adapter for above camera OptoNAV CD containing PC software and manual Forsberg Services Ltd RSBERG OptoNAV User Manual 4 4 Camera Feed OptoNAV utilises two cameras positioned to face both possible drive directions The live images from the camera provide the means to determine the heading of the RTG as well as providing a means to observe the area in front and behind the RTG Figure 2 below shows an example image received by one of the cameras Both camera feeds are displayed on the OptoNAV interface Drive Line Figure 2 Camera Feed with drive line The cameras are positioned on one leg of the RTG and provide an area of view as shown below It should be noted that the cameras do not provide visual coverage closer than 1 77 meters from the RTG leg This is represented in the diagram below Area not visible by camera Figure 3 Camera Visibility Forsberg Services Ltd SB RG OptoNAV User Manual 5 OptoNAV Software 5 1 Start up OptoNAV will start automatically when the RTG system is turned on 5 2 Layout The OptoNAV software sta
9. o alert the driver when they are moving off course The lines can be altered to provide different tolerance levels for RTG movement 6 4 Auto Record Auto Record is used to aid the development of the OptoNAV software When enabled the system will capture the data received in normal use or it can be left running unattended Auto record will prompt the OptoNAV software will capture an image from both cameras and save them with the name specified as the current date and time At the same time current GPS position Northings Eastings amp Height is recorded to a log file Data can be opened and interrogated at a later date 12 Forsberg Services Ltd SB E RG OptoNAV User Manual 7 Support 7 1 Contact Details OptoNAV was developed by Forsberg Services Ltd please contact for all support enquiries Forsberg Services Ltd 1b Waterview White Cross Lancaster LA1 4XS UNITED KINGDOM E mail info forsbergservices co uk Tel 44 1524 383320 Fax 44 1524 382939 13
10. ons for this e Drive Line has become worn or is obscured e has exceeded the lower lane limits and is moving off course Red Light The Red light is displayed if the drive line is not visible in either measure boxes e Drive Lines have become worn or both are obscured e has exceeded the upper lane limits and is off course 5 12 System Shutdown The OptoNAV system will shut down automatically on RTG power down 11 Forsberg Services Ltd SB RG OptoNAV User Manual 6 Admin Mode 6 1 Overview OptoNAV has a built in administrator mode which provides the ability to automatically survey sections of the port define the lane limits and auto record data for problem finding These options are located at the top of the screen under File and Settings and require and expert user for access Information on what is available through the admin mode is detailed below Please see F064990 09 0004 OptoNAV Set up and Installation Guide for full instructions and detailed use 6 2 Auto Survey The auto survey function is used to teach the software to recognise designated areas of the port When encountering a drive line that has not been previously surveyed or one with Known errors the auto survey function will store the drive line with the required information to the library for use 6 3 Define Lines The lane limits provide a guideline for the RTG movement and is used as a safety mechanism t
11. rts automatically on system power up The OptoNAV software consists of a simple user friendly interface that requires minimal interaction The display shows e Live feeds from camera one and camera two Visual representation of the RTG position and heading RTG position data GPS position data Lane limits RTG position quality Heading information Status bar Note On start up of the OptoNAV software an initial picture is taken from the camera no live video will be displayed at this point Forsberg Services Ltd SBERG OptoNAV User Manual 5 3 Layout Guides The following images show the OptoNAV user interface and provide a breakdown for each section 5 Easting s amp Lin meters Position Green within lower lane limits g Displays current RTG Position Position of the RTG calculated from image and GFS Data Curent GPS Position Nothin Hei Lane Limits Upper and lower lane limits from drive line Quality of RTG Red Greater than upper Heading Left and Right information of RTG heading and offset Amber Between lower limit and upper limit 523652 44 Easings 244833 13 Along Track 5017 Se ee ee eee ee R tate ne Re x HE 5 ne i ee Ku oh x tate F de Tee ee
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