diff --git a/SourceCode/GPS/gStr.zh-CHS.resx b/SourceCode/GPS/gStr.zh-CHS.resx index 865998c80..9bfc34cf8 100644 --- a/SourceCode/GPS/gStr.zh-CHS.resx +++ b/SourceCode/GPS/gStr.zh-CHS.resx @@ -772,900 +772,824 @@ CPD增加，车轮根据所需的每度转动更远。 如果车辆转向过远，则降低CPD，反之亦然。 - Stanley Heading Slider + Stanley减震滑块 + +这个滑块是对抗“Aggressiveness”（攻击性）设置的。 +它影响当前与线条的偏差（即横向误差/XTE）对转向角度的影响程度。 +该值决定到达线条需要多长时间。理想情况是找到攻击性和避免过度穿越线条或来回摆动（过于攻击性）之间的平衡。 + + + 最大PWM限制滑块 + +这里设置的最大PWM值限制了传递给转向电机或阀门的总功率，以防止过度转向。 +首先设置较低的值，以防止振动。然后慢慢增加这个值，以避免事故。 + + + 保持预视距离滑块 + +当线已经达到时，目标点在理想线上的距离。当与线的距离小于10厘米时，系统进入“保持”模式。设置的值是系统向前看的时间，以秒为单位。如果它慢慢失去线，减少这个值。如果在与线距离小于10厘米时经常出现过度校正，增加这个值。 + + + Stanley积分滑块 + +随着时间的推移，与线的距离误差可能会累积。如果正常的距离和路径计算不能将拖拉机带到线上，可以添加一个积分值进行计算。在侧坡或设备侧拉时，也需要一定的积分部分。 +过多的积分会导致线被过度驱动并越过。 +设置太低会导致永远达不到线。 +最好设置得稍低一些，否则车辆会在线上强烈摆动。 + + + Pure Pursuit积分滑块 + +随着时间的推移，与线的距离误差可能会累积。如果正常的距离和路径计算不能将拖拉机带到线上，可以添加一个积分值进行计算。在侧坡或设备侧拉时，也需要一定的积分部分。 +过多的积分会导致线被过度驱动并越过。 +设置太低会导致永远达不到线。 +最好设置得稍低一些，否则车辆会在线上强烈摆动。 + + + 预视距离滑块 + +目标点在理想线上的距离。如果目标点离车辆很近，则车辆会很快转向。更远的距离会使转向更平稳，但达到线会需要更长时间。该值是目标点在车辆前方的秒数。 +“速度增益”滑块基于速度改变目标点的距离。你开得越快，需要的转向越少，目标点就越远。 +根据您最常驾驶的速度优化设置。 + + + 速度增益滑块 + +您驾驶的速度越快，您就越快达到理想线。 +这个滑块决定了当您的速度增加时，参考点离您移动的距离。这样就减少了转向角度，并防止了在线上来回驾驶。 + + + 转向角度差异低时的PWM值 + +当车辆接近线时，转向电机的转速/阀门的开度从最大值线性减至最小值。 +在这里设置一个还能安全移动转向的值。 + + + 最大转向角度滑块 + +自动转向应达到的左右最大转向角度。测试时，可以先设置较低的值，以防止出现疯狂的转向动作。 +需要转弯和驾驶急转弯时，需要设置较高的值。 + + + 最小移动PWM值滑块 + +这里设置的最小PWM值用于设置转向电机/阀门克服阀门/电机摩擦所需的最小力量。 +如果该值过低，会导致转向动作延迟。 +在这里设置一个刚好能移动转向的值。 + + + 比例增益（Proportional Gain）滑块 + +比例增益乘以距离理想线的距离。然后加上最小PWM值，来计算最终输出到电机/液压阀的电流。 +这个值越高，电机就越快地校正转向。 +如果太高，转向会越过线条然后又过度转向另一个方向=摆动。如果这个值太低，要么需要很长时间才能达到线条，要么永远达不到线条。需要做一些实验来看到效果。所有这些增益设置相互影响。调整一个设置并观察效果。 +在SteerChart（转向图）中，曲线应该是跟随的：实际转向角度应该迅速跟随理想转向角度。 + + + 侧坡补偿滑块 + +为计算出的转向角度增加一些角度。添加的角度基于拖拉机的侧倾（Roll）。这样可以补偿山坡的侧拉。使用这个设置，您可以让车辆越过线条，使得配套设备更好地跟随线条。 + + + Stanley攻击性滑块 + +转向角度部分基于与线条的距离来计算。这个滑块控制距离对转向角度的影响程度。攻击性越高，车辆就越快朝线条转向。存在越过线条的风险。减震滑块尝试缓和这个效果。 + + + 转向角度传感器零点滑块 + +移动这个滑块可以改变转向角度的零点。在转向测试模式下驾驶，并调整它以使您直行行驶。 +这个设置是其他设置的基础。 + + + 自动转向积分值显示 + +此值显示额外的转向角度，以将车辆拉近到导向线。 + -The slider affects how much opposition to distance setting -there is by keeping the vehicle turning away from the line. -It’s the winner of the two, heading and distance away that -determines the length of time to get to the line. Ideal is to -balance them so you get quickly to the line without going too far -over the line or oscillating back and forth (too aggressive). - - - Maximum PWM Gain Slider - -Limits the total power deliver to steer motor or valve to prevent steering too violently. -Initially set lower to prevent oscillation. If driving fast be sure to not turn too fast to prevent roll over. - - - Stanley Integral Slider - -Integral setting allows the distance error to keep adding up over time to help add steer angle when a normal distance and heading calculation won't bring the tractor to the line. -Like on a sidehill or pulling heavy draft to one side. Too much integral will cause it to get too fast to the line and cross over it. -Too low of a setting will take too long to get to the line. -Better to set a bit lower or it will oscillate across line a lot. - - - Pure Pursuit Integral Slider - -Integral setting allows the distance error to keep adding up over time to help add steer angle when a normal distance and heading calculation won't bring the tractor to the line. -Like on a sidehill or pulling heavy draft to one side. Too much integral will cause it to get too fast to the line and cross over it. -Too low of a setting will take too long to get to the line. -Better to set a bit lower or it will oscillate across line a lot. - - - Look Ahead Slider - -How far ahead of the vehicle is the reference point. If point is close vehicle turns very quickly. -Farther away the steering is more relaxed and takes longer to get to line. Use the Speed gain to set distance based on speed as it takes less steering when you go faster. But set lookahead first. -Tune it at the speed you will most often be travelling. - - - Look Ahead Speed Gain Slider - -The faster you drive, the faster you get to the line. -This slider sets how quickly the reference point moves away from you as your speed increases and reduces the steer angle so it doesn't turn as fast preventing going back and forth across the line. - - - Low Steer Angle PWM - -As the vehicle gets closer to the line, the gain is reduced linearly -from the max value to the low value. This helps it overshoot the -line when close, but provide rapid movement when further away. - - - Max Steer Angle Slider - -The maximum left and right steer angle autosteer will provide. Initially a low setting here will help you not drive all over the place with wild steer angles. -You do need a high value to steer around U Turns that are quite small and require a sharp turn. - - - Minimum PWM Sider - -Minimum PWM value is used to apply a minimum amount of -power to overcome friction of the valve/motor. Too high and it will turn all the time, -too low and there will be a delay as pwm increases before the steering happens. -The more proportional gain, the more sensitive this setting. - - - Proportional Gain Slider - -The proportional gain is multiplied by the distance error then added to -the minimum PWM value to generate the final output value. The -higher this value the faster the motor will correct the steering. -However, if it is too high, the steering will overshoot the line and -then oversteer the other way again called oscillate. Too low of a value and it will -either take too long or never get to the guidance line. A critical setting that -takes some experimenting to see its effect. All 4 of these gain settings affect -each other so set one and see the effect. - - - Sidehill Compensation Slider - -Adds a static steer angle based on roll angle to turn the wheels to compensate for the side draft of hills. You can make the vehicle go above the line with this setting allowing the tool to follow better as well. - - - Stanley Distance Slider - -The slider works with distance. The more aggressive the -faster it tries to steer towards the line with the risk of crossing -over the line. The heading slider tries to dampen this effect. - - - Wheel Angle Sensor Zero Slider - -Moving this slider changes the zero position for steering angle. Drive in free drive mode and adjust this so you are going straight out. -This is a critical setting - - - AutoSteer Integral Value - -Display only. This value shows the amount of additional steering angle to bring the vehicle closer to the guidance line. - - Lateral Shift Touch + 跳转到下一个线路按钮 + +触摸这些按钮后，车辆会向左或右跳转到下一条导航线。您可以多次点击以跳过多条线。触摸另一边的箭头可以减少跳跃的数量。 + + + 通过触摸启动和取消手动转向 + +如果您已经在进行转向操作中，您可以通过触摸启动或取消手动转向。 + + + 速度显示 + +显示具有双重用途：显示车辆速度，通过点击值显示许多附加数据，如GPS信息。 + + + 倾斜和转向信息显示 + +图形显示车辆的倾斜，颜色显示自动转向的状态： + +紫色 - 转向模块未连接。 +红色 - 转向模块已连接，未激活。 +橙色 - 转向模块已连接且激活，转向开关关闭。 +绿色 - 已连接，已激活且自动转向全功能。 + + + 此区域显示到下一次自动转向开始的距离。这里有两个功能。如果您不在转向中，您可以通过触摸此区域现在转向相反方向。如果您正在转向，通过触摸此区域将取消转向。所以请小心，并抓住方向盘。 + + + 改变方向 + +如果车辆在前进时显示向后，点击这里。例如，在低速锐转或转向时，方向可能会混乱。向前驾驶并触摸此区域，告诉AOG它前进的方向。随时都可以操作。 + + + AgIO错过或延迟的NMEA消息（GPS数据）的数量。 + + + A点 + +这是线路的第一个点。您现在可以输入一个方向（heading）（0=北，180=南）或设置另一个B点，然后线路就定义好了。 +然后您可以命名线路。 +提示： +- 在命名线路时，按照它们通常使用的顺序以及它们所在的边界命名是有帮助的。 +例如：01 AB west Asphaltweg + + + 添加时间 + +在当前名称中添加时间戳。也有助于使名称唯一。 + + + B点 + +在A点和B点之间创建一条线。线的方向将被计算。您可以通过输入一个数字（0=北，180=南）来校正方向，或多次触摸B来进行调整。 + + + 取消并关闭 + +退出窗口并关闭自动转向。现有的线路不会被删除，只是在主显示中隐藏。 + + + 取消并返回 + +取消当前操作并返回到上一个显示。 + + + 复制线路 + +复制列表视图中选定的线路。新名称必须保持唯一。 + + + 保存并继续 + + + 删除线路 + +选择一条线路并点击这里将其删除。 + + + 选择线路并返回 + +选定的线路将用于自动转向。此按钮关闭窗口。 + + + 手动输入 + +通过经纬度手动输入A和B点。将打开一个新窗口 + + + 新线路 + +打开一个新窗口以创建新线路。新线路可以通过A和B点、A点和方向或完全通过经纬度手动创建。 + + + 输入方向 + +设置A点后，您可以输入一个方向。0 = 北和360度之间的任何数字都是可能的。 + + + 线路名称 + +更改或创建线路名称。完全相同的名称是不可能的。按下日期或时间按钮将其添加到名称中。 +提示： +- 在命名线路时，按照它们通常使用的顺序以及它们所在的边界命名是有帮助的。 +例如：01 AB west Asphaltweg + -Touching this area allows the vehicle to shift left or right to next guidance line. You can touch more then once and shift over multiple lines. Touching the other arrow allows you to reduce the number of shifts over. - - - Manual Turn and Cancel Touch - -You can initiate a manual U Turn or cancel it if you are already in a manual turn. When driving in normal auto U Turn touching one of these jumps to the next line and turns around. - - - Speed Indicator - -Dual purpose label. Shows the speed of the vehicle and also tapping the value brings up the GPS Data form showing all the GPS information. - - - Steer Information Indicator - -Graphic shows steering angle as well as the color shows auto steer status..... - -Purple - Steer module not connected. -Red - Steer module connected, not enabled. -Orange - Steer Module connected and enabled, steer switch is off -Green - Connected, enabled, and auto steering. Fully functional. - - - This area shows the distance to the start of the next U Turn. There are normally 2 functions here. When not in a U Turn, touching this area allows you to now turn the opposite direction. If you are doing a U Turn then touching this area cancels the U Turn - so be careful and grab the wheel. - - - Swap Direction Touch - -Touch here if the vehicle is pointing backwards while travelling forwards. Without dual heading you don't know if you are backing up or going forward. Backing up is position to position like going forward but 180 degrees is added to your heading to make it look like you are backing up. At times, like turning sharp when going slow the direction can get confused and this resets that direction. Drive forward and touch this area to tell AOG which way forward is. Can be touched at any time. - - - How many NMEA messages have been missed or too late from AgIO - - - A Point - -This is the first point of the line. It is also used for the base point of A plus heading. - -Once A is touched, you can either touch B point or enter in the heading. - - - Add Time - -Adds a time stamp to the current line name. Helps make the name unique as well. - - - B Point - -Makes a line between the A point set and the B point. Heading of line is calculated. You can modify the line by entering a heading or by touching B as often as you want. - - - Cancel and Turn Off - -Exit the form and turn off the guidance mode. Existing lines are not deleted, it just turns them off in main display. - - - Cancel and Return - -Cancels the current action and returns you back to the start. - - - Copy Line - -Makes a copy of the line selected in the List View. The name must remain unique. - - - Save and Continue - - - List Delete - -Select a line from the list, touch delete to remove the line. - - - Use Line and Exit - -Uses the line selected in the list and exit. - - - Manual Entry - -Manual entry of A and B points by using Latitude and Longitude. Brings up another form. - - - New Line - -Brings up the form to create a new line by AB or A plus heading or Manual Latitude and Longitude. - - - Heading Entry - -Enter a heading once the A Point has been set. Any number between 0 and 360 degrees. - - - Line Name - -Edit and make the name of the line here. Keep names unique. Touching the Time button adds time to the description. - - Add New Boundary - -Brings up the form to choose to either load a kml file for boundary or to Drive one. - -If no boundaries are made, the first one you make is the outer boundary. - -If there is an outer boundary already made, the rest made will be inner boundaries. - -Touch on the Drive through Yes or No button for that boundary to change. - - - Add Point - -Add a point at the current position based on offset. Nice to make long straight lines by marking corners only. - -You can record around corners, pause, hit Add point, drive and keep recording. Anything you want to do. - - - Cancel - -At any time or on any form you can cancel. As you make boundaries and do changes they are saved. Nothing is saved when cancelling or exiting. - - - Single Boundary Delete - -Select a boundary in the list and delete it. - - - All Boundaries Delete - -This button deletes all the boundaries. Careful - once gone they are gone. - - - Delete Last Point Made - -Deletes the last point made. Keep touching to delete as many as you want. - - - Drive The Boundary - -Allows you to record the boundary as you drive. Button brings up the Boundary Player form to record points and where the points left or right of the center pivot point they are recorded. - - - Make Boundary using KML - -Brings up the next form that allows you to load either a single boundary or multiple boundaries. - - - Mark Left or Right - -Button used to select the left or right side of vehicle for making boundary. - -You can also enter distance in the offset numeric box. - - - Load Single Boundary From Google Earth - -Load a kml boundary that can either be the outer boundary or as inner boundaries. If there are no boundaries, it will be considered an outer boundary. If there already is a boundary, the boundary will be considered an inner boundary. - - - Load Multi Boundary From Google Earth - -Load a kml boundary that has the first line as the outer boundary and the rest as inner boundaries. - - - Open Google Earth - -Opens Google Earth if installed. There, you can make and save kml files for boundaries. - - - Record Pause - -Touch to start recording, touch again to pause. While in pause you can touch add points or delete points, swap sides, change offset. - - - Restart Line - -Delete existing points and start over. - - - Stop Boundary - -Boundary is all done. This will connect the last point to the first point and exit. - -You need at least 5 points or it will just not make a boundary. - - - Offset From Pivot - -The offset to mark the boundary is measure from the center of the pivot point - usually between the driving wheels - to mark the boundary lines. - -It defaults to one half the tool width. Use the select sides button to move from left to right side. - - - Vehicles List - -The list of saved vehicles. - - - Remove Roll Offset - -Removes any offset currently added to roll to show actual roll angle as mounted - - - Remove IMU from Display - -If you disconnect IMJ, you can remove all the values shown on the main display. Once you connect an imu to AgIO, it will show again automatically. - - - Send Changes to AutoSteer and Save - -If you make changes, be sure to send them and save them by touching send. If you do not, they will not be saved. if you want to cancel, just go to a different config page and return again. - -Don't forget to Send and Save by using this button. - - - Vehicle Delete Button - -Select a vehicle in the list, touch Delete Button to delete it. - - - Vehicle Load Button - -Select a vehicle in the list, touch Load Button to load it. - - - Vehicle Save Button - -After entering a vehicle name in the textbox, touch Save Button to save it. - - - Vehicle Save As Button - -Click a vehicle in the list, then touch Save As Button to overwrite that vehicle with the current settings. Answer Yes to overwrite the chosen vehicle or No to do nothing. - - - Zero Roll Value - -Add the negative of the current roll value displayed to show zero roll. Removes the sensor mounted roll angle error so when the vehicle is flat, the roll value shows zero. - - - AutoSteer Manual or Automatic Engage mode. - -In manual mode, you must press the AutoSteer button to engage AutoSteer. Steer motor/Valve steer switch has no effect. - -In Auto Mode, when you engage the steer or valve steering switch, the AutoSteer button will automatically turn on. - -Be careful with Auto mode when travelling down the road. Always turn off or disconnect power to any autosteer mechanical device when commuting. - - - A2D Convertor Input Configuration - -Select either Single or Differential input. most commonly it is single type input ground referenced. Oddly even the Differential is still ground referenced but seems to work with OEM style WAS. - - - Current Sensor enable - -If using a current sensor enable this feature to stop autosteer by holding the wheel and detecting a high current use. - - - Danfoss Valve - -If using the Danfoss style Udc valve, select this. The arduino sketch will then automatically use and send out the right values for the valve. - - - Invert Roll - -Roll to the right must be a positive value. If roll shows a negative value, touch Invert Roll to make it positive. - -A very important setting. See the picture on this form for clarity. - - - Steering Wheel Encoder - -Poorly named, but allows the detection of turning the steering wheel being turned by using a shaft sensor. This setting enables it. - -Additional setting is the counts. when the steer module counts that many detections, it turns off the steering drive. - - - Use Dual Antenna As IMU - -Instead of using dual antenna as heading directly, use fix to fix single antenna for heading and smooth heading with dual antenna heading value. - - - Hydraulic Control Off On - -Enable hydraulic control of tool when entering and leaving the headland. - - - RTK Alarm - -Enabling this shows an alarm called Lost RTK on the main screen. - - - AutoSteer Off if RTK Alarm - -If RTK alarm is on, then enabling this turns off the AutoSteer when RTK is lost. - - - Reverse Detect - -Show the vehicle backing up when enabled or screen spins 180 degrees and shows still going forward - - - Invert Controls - -If your controls are on instead of off, enable this to invert the control. - - - Motor Driver Type - -2 Choices being Cytron and IBT2 so pick the one you are using. - - - Number of Sections - -Using the drop down, choose the number of sections your tool has. It uses the default section width value to fill in the section width for you. -Generally set the default section width first, then the number of sections. You can now manually edit any section width if they are different by clicking on that particular section width spinner - - - Pressure Sensor Switch - -when using an oil pressure sensor, enable this feature. - - - Section Response Fast/Slow - -This selects how often section control is run per second. In fast mode it is one half the nmea speed and in slow mode it is half of that. -If you have a slow computer, and section control is not super critical and speeds are slower, use the slow mode. If you find the sections aren't turning on fast enough, select fast mode. -Section math is intense along with boundaries and headlands so this may help a slower tablet. - - - Steer Switch Style - -2 types of Switch. - -Button- Push and release turns Auto Steer On. Push and release again turns Auto Steer off. - -Switch - like a light switch style. Connect and Auto Steer is on, Disconnect and Auto Steer turns off. - -Note... Any type switch or button can be configured to do either method. The Switch setting is most common for steer motors that just push on a switch when engaged and then when released simply opens the switch again. - -The button setting is more common for hydraulic as you want pressure to disable steering, then just hit the button to enable again. - - - Tram Tool Control + 添加新的田间边界 -Enable sending tram on off signal to seed runs for full tram control. - - - Auto Day Night automatically goes to night mode at sunset and day mode at sunrise - - - Extra guidance lines beside the one you are following - - - Display the textured background on field surface or if off shows just a solid color - - - Display the grid on the field surface - - - Use the custom keyboard when entering a text type of entry - - - The Graphic dots at top of screen showing distance away from the guidance line - - - Log the incoming NMEA, stored in the fields directory - -Caution - Make a very big file quickly - - - Display the individual polygons that make up the mapping - - - Display the colorful sky in the background when in 3D - - - Display the Speedometer in top right corner - - - Full Screen on Start Up - - - Invert Steer Motor Drive - -If the motor turns the wrong way in Drive Mode, enable the Invert Steer Motor setting so it turns the opposite way - - - Invert Wheel Angle Sensor - -Turning to the right the WAS should be a positive angle. If it is not, Invert the WAS - - - Invert Steer Relay - -This controls only the relay for PWM2 pin. If you need Normally open or Normally Closed click the invert to have the opposite function of the relay. - - - IMU Fusion Balance - -As usual a setting at either extreme is bad. IMU balance sets how much IMU and how much fix to fix heading is used to determine a fused heading. - -The GPS is quite stable over a longer time period while the IMU is very stable short term but drifts to some funky angle over time. +调用一个表单，您可以选择是加载一个KML文件作为边界，还是通过驾驶创建一个边界。 -If too much IMU is set, then making sharp turns etc can take a long time to correct by the GPS and will cause steering to be in the wrong heading. Too much GPS and the heading will be noisy back and forth causing erratic steering. +如果还没有设置边界，请首先设定外部边界。 -With that in mind, set the IMU so there is a little bit of heading noise to provide fairly smooth steering, and if you turn quickly, make sure the heading you are going right after the turn is the heading you are actually going. Compare the GPS heading and the Fused heading and see that they follow each other well. The GPS will be noisy, but the Fused will be quite steady in the middle of those noisy values. - - - Length of UTurn Legs +如果已经创建了外部边界，其余的将作为内部边界。 -Sets the amount of meters the legs of the uturn continue past and into the turn. Allows the vehicle to line up better to the next guidance line - - - UTurn Smoothing +触摸“通过驾驶”按钮并选择“是”或“否”来改变这个边界的行为。 + + + 添加新点 -Removes the abrupt change of direction for Keyhole turns and smooths them out. Makes the turn easier to follow. - - - Length of AB Line +在当前位置添加一个点。（会考虑到天线的偏移） -Make sure line is long enough to reach from boundary edge to boundary edge and a little more. Twice as long as longest field dimension is easy. - - - Age of GPS Alarm +提示： +- 在创建曲线线条时，您可以在录制期间按下暂停来创建直线部分。然后，暂停前后的最后一个点将被直接连接。 +- 在田间的角落放置点可能是有意义的。这些点随后会被直线连接。 + + + 取消 -Set how many seconds before the alarm occurs - - - Section Cutoff Speed +您可以随时取消。 + + + 删除单个/选定的边界 -The lower limit of speed before the sections auto turn off. Below this setting, the sections will turn off. Prevents over application. - - - Default Section Width +从列表中选择一个边界并删除它。 + + + 删除所有田间边界 -Enter the default section width for all sections here. Selecting then the number of sections fills in individual sections with the default value. Now go ahead and edit any sections that need a different width then the default. - - - Forward Direction Compensation For Turns - -This is a difficult concept to describe, so there is a video about it on you tube called Reverse Compensation. But here goes in text. +这个按钮会删除所有田间边界。小心：一旦边界被删除，它们就消失了。 + + + 删除最后一个点 -What you are doing is offsetting the effect that the antenna swings very quickly left or right when you initially turn the steering wheel. This tries to dampen that effect. It is very complex to eliminate. There is much less of this effect when going forward so best just to leave the setting as is. +删除最后一个点。多次按下会删除多个点。 + + + 通过驾驶创建边界 -You can use the steering chart from the tools menu to see the effect. +允许您在驾驶时记录边界。您可以选择点是记录在设备的左侧还是右侧。 + + + 从KML文件创建边界 -Would you like to see a YouTube video for more help? - - - Guidance Line Acquire Distance - -How many seconds ahead should AOG look for the next guidance line to lock onto. The faster you drive, the farther it will look ahead. AOG will draw the next guidance line at this spot and you can hit autosteer button and will lock on. - - - Hydraulic Look Ahead - -Time in seconds how far ahead the tool should begin to lower when entering the work area. Lift occurs when tool is completely out of the work area and in the headland. - - - Cross Track Distance per Pixel - -How many cm/inches represent each square dot on the light bar. Small values, the dots move very quickly, Too big and the dots hardly move. handy for manual steering. - - - Pixel Width of Lines Displayed - -How many pixels wide are the displayed lines. More pixels is wider displayed line. Valid from 1 to 8 - - - Time to shut sections off before getting to the applied region. - - - Time to turn on the section early before getting to the unapplied area. - - - Lower Time - -How long in seconds the hydraulic control should remain on for lowering tool. - - - Steer Counts Trigger - -When this number of detections are made it will disable the auto steer. - -Depending on sensor used the value can be either turn counts, oil pressure in Bar, and current in Amps. - - - Minumum Coverage Percent - -Based on per section, how much of the area ahead needs application in order to turn on or off the section. -If set to 100, section never turns off until all area is applied. -If set to 50, if half the area is already applied ahead of section, the section will turn off. - - - Step distance for Heading Calculation - -Heading is determined by taking 2 points and calculating an angle. The slower you go, the more variation side to side there is, more noise, etc make the heading quite unstable to just go from last point to current point. OK when going fast. AOG remembers several points back in time for this purpose. The Step Distance is how far back in that history of points do you want to use to calculate the heading. - -A long step distance provides quite a stable reading BUT there is delay and sluggish for determining when the vehicle turns. - -A very short distance reacts very quickly but is also jumping around and more noisy. - -This is whee the IMU will help augment the short step distance with an IMU heading to give a stable and quick response heading. - - - Minimum Frame Time - -Set in milliseconds. If GPS is 10 hz then a single update takes 100 msec between new position updates. In this case the elapsed time would be zero since a new one arrives every 100 msec. - -If you set it to 70 then the elapsed time would wait for another 70 msec - or 170 msec total - before a missed update would occur. These missed updates get counted and show up by the AGIO button on the left side. A few misses happen because windows is busy, or bringing up the Config settings because Windows is too busy to read every update quickly. This is normal. - -But, if just driving along and misses are counting up, there is a problem. Something is taking too long. - - - Tool Offset - -Positive value moves the tool to the right, negative value moves the tool left - - - Distance Overlap or Gap - -Positive value indicates overlap, negative indicates gap. Tool width remains the same however the guidance lines are adjusted accordingly. - - - Raise Time - -How long in seconds the hydraulic control should remain on for lifting tool. - - - Reverse Direction Compensation For Turns - -This is a difficult concept to describe, so there is a video about it on you tube called Reverse Compensation. But here goes in text. - -What you are doing is offsetting the effect that the antenna swings very quickly left or right when you initially turn the steering wheel. This tries to dampen that effect. It is very complex to eliminate. - -The effect is much greater in reverse because the antenna based on direction is behind the antenna. Think of a loader bucket on a tractor and the path it makes. - -You can use the steering chart from the tools menu to see the effect of changing settings, but is quite difficult to know if helping or making it worse. - -Would you like to see a YouTube video for more help? - - - Section Width Entry - -Enter the width of the section in cm/inches. All the section widths added together become the tool width. - - - Nudge Distance - -Distance to move guidance line over, used in the Edit AB form - - - Start Speed - -Speed to reach before using every position to calculate heading. Below this value you must travel about a meter before position and heading are updated on the screen. +下一步，您可以选择您的KML文件包含一个还是多个边界。 + + + + 设置点在设备的左侧或右侧。 -This is important when going slow, backing up and turning etc. to know where you are, the heading you are going, and whether or not you are in reverse. +您可以设置点之间的距离。 + + + 从Google Earth (KML)加载单个边界 -A higher setting like at least 1.5 to 2 allows for a much more reliable determination of reverse and heading. - - - Tram Width +从KML文件加载一个边界，它可以是外部边界或内部边界。如果没有边界，则视为外部边界。如果已经有一个边界，新的边界将被视为内部边界。 + + + 从Google Earth (KML)加载多个边界 -Usually the width of your sprayer, but is the width of the spacing between tramlines - - - Turn Distance from Boundary - -Distance from apex of turn to the boundary. The closest distance the vehicle will pass by the boundary. Ensure vehicle and 1/2 tool width does not cross over boundary. - - - Time to keep sections going after applied area says they should turn off. - - - Settings have Changed Graphic +KML文件中的第一个边界是外部边界。每一个额外的边界将被视为内部边界。 -You have made a change on this settings page when this graphic shows up. Now be sure to save and send your changes - or nothing will happen and changes will be lost. - - - Set Units to Imperial - - - Set Units to Metric - - - Fix to Fix Heading Type - - - VTG Sentence Heading Type - - - Dual Antenna Heading Type - - - Tram Tool positioning - -Select where the tool will end up when making a pass on the tram line. This is decided if you are odd or even number of passes of seeding to get to the next tram line. - - - Name of new vehicle to be saved - -Enter the new vehicle name and touch the Save button - - - A Point + + + + 打开Google Earth + +如果已安装，则打开Google Earth。在这里，您可以绘制或编辑边界。将它们保存为KML文件以在AOG中使用。 + + + 暂停 + +暂停录制。在录制暂停时，您可以删除点，更改录制的侧面或设置不同的偏移。 + +暂停前的最后一个点和暂停后的第一个点将被直接连接。这样，您可以通过按下暂停，在曲线前后创建直线。 + + + 重新绘制线条 + +删除点并重新开始。 + + + 停止 + +边界创建完成。然后，最后一个点将自动与第一个点连接。必须设置至少5个点。 + + + 转点的侧向偏移 + +边界通常在外侧绘制。这时，会从车辆的转点（通常是后轴）向外偏移半个工作宽度。 +您可以选择记录点是在左侧还是右侧。 + + + 车辆列表 + +已保存车辆的列表。如果您想基于另一辆车创建新车，请首先以新名称保存，否则更改将立即影响现有车辆。 + + + 移除侧倾校正 + +移除侧倾校正。如果车辆平放，您会看到IMU安装的倾斜量。 + + + 从屏幕上移除倾斜显示 + +如果您没有连接IMU，可以移除倾斜显示。一旦连接了IMU，显示会再次出现。 + + + 发送自动驾驶硬件数据 + +如果您更改了设置，应该按下此按钮以确保数据被保存。 + + + 删除车辆按钮 + +从列表中选择一辆车，按下此按钮删除它。 + + + 加载车辆按钮 + +从列表中选择一辆车，按下此按钮加载它。 + + + 保存车辆按钮。 + +在文本框中输入名称后，您可以保存车辆。 + + + 覆盖/另存为 车辆按钮 + +从列表中选择一辆车，按下另存为按钮。然后，经过安全询问后，当前设置会保存在选定的车辆下。 + + + 将侧倾（roll）设置为0 + +将侧倾设置为0，并显示了进行校正的值。 + + + 手动或自动激活自动驾驶。 + +在手动模式下，您需要按下屏幕上的AutoSteer按钮来激活自动驾驶。电机上的开关（如果有）只是断开电机的电源，并不影响程序。 + +在自动模式下，当您操作方向或阀门驾驶开关时，程序中的AutoSteer按钮也会自动激活。 + +如果您在路上行驶，请小心自动激活功能。总是关闭并断开所有机械自动驾驶装置的电源。 + + + AD转换器模式 + +选择是对地测量（=single）还是两个电压之间的差分测量（=differential）。对地测量时，转向角度传感器（WAS）通常由电路板供电。在使用车辆原装传感器时进行差分测量。 + + + 激活电流传感器。 + +安装电流传感器后，会测量转向系统中的电阻造成的电机电流增加。这可以检测到驾驶员的转向操作，并关闭自动驾驶。 + + + Danfoss阀 + +如果您使用Danfoss UDC阀，则自动驾驶电路板中会设置与阀匹配的相应设置。 + + + 侧倾倒置 + +当车辆向右倾斜时，侧倾值应为正。可以通过此选项倒置（反转）值。 + + + 方向盘编码器 / Steering wheel encoder + +如果您在方向盘上安装了转向编码器，则可以通过编码器检测到转向操作，随后会关闭自动驾驶。另外，设置编码器的脉冲（Counts）数，达到该值时会关闭自动驾驶。 + + + 使用双GPS作为IMU + +双GPS直接提供行驶方向。或者，您也可以通过单个GPS位置计算行驶方向，并通过两个天线的方向来细化计算。 + + + 自动升降控制 + +开启或关闭自动升降控制。当您驶入或离开前地头时，会激活此功能。使用此功能必须创建前地头。 + + + RTK警报 + +如果激活，当GPS信号不再是RTK质量时会触发警报。 + + + RTK信号丢失时关闭自动驾驶 + +如果GPS信号不再是RTK质量，并且此功能已激活，则会关闭自动驾驶。 + + + 倒车检测 + +如果激活，当您倒车时，车辆在屏幕上会向后移动。否则，屏幕会旋转，屏幕上的车辆始终向前行驶。 + + + 倒置输入/输出 + +如果您的开关或继电器的行为与预期完全相反，您可以通过这个选项来倒置它们的行为。 + + + 电机驱动选择 + +根据您的电路板上安装的是Cytron电机驱动器还是IBT2来选择。 + + + 分段数量 + +从下拉菜单中选择您的设备拥有的分段数量。它将使用分段宽度的默认值。 +最好先设置一个分段的标准宽度，然后再设置分段的数量。然后，您可以手动编辑每个分段，如果它们各不相同的话。 + + + 安装了油压开关 + +如果您安装了用于检测转向操作以关闭自动驾驶的油压开关，请激活此按钮。 + + + 转向开关类型 + +支持两种类型的开关：开关或按钮 + +按下并释放按钮会激活自动驾驶。再次按下并释放会关闭自动驾驶。 + +对于开关，只要开关闭合，自动驾驶就会激活。 + +开关最常用于转向电机，当开关闭合时，会按下开关，当释放时，会再次打开。 + +按钮在液压系统中更常见。它们通过按钮按压来激活转向，然后简单地通过再次按压按钮来停用。 + + + 使用轨迹线 + +如果激活，将向硬件发送信号，表明您正处于轨迹线上。 + + + IMU轴选择。这里可以交换车辆的侧倾和俯仰，如果IMU安装时旋转了90度。 + + + 自动切换日/夜模式。根据日出和日落时间自动切换到日间或夜间模式。 + + + 显示额外的引导线，除了您当前行驶的那条以外。 + + + 在田地表面显示纹理，而不是统一的颜色。 + + + 在田地表面显示网格。 + + + 当您处于输入字段中时显示键盘。 + + + 在屏幕顶部显示“光条”，指示您前往线路的方向。 + + + 将NMEA数据（=GPS数据）记录到文件中。注意：在短时间内会生成巨大的文件。 + + + 显示用于记录处理过的面积的各个多边形。 + + + 在3D视图中显示天空。 + + + 在右上角显示速度表 + + + 程序启动时全屏显示 + + + 反转电机的旋转方向 + +如果电机旋转方向错误，可以通过此选项反转。 + + + 反转转向角度传感器 + +如果您向右转向时，转向角度显示为正值。如果不是，可以通过此选项反转。 + + + 反转自动驾驶的继电器 + +此设置影响转向板上的PWM2输出。 + + + IMU融合调节器 + +通常在两个极端中的设置都不理想。IMU平衡决定了多少IMU和多少从固定点到固定点的航向（heading / course）用于确定车辆的方向。 + +GPS在较长时间内相对稳定，而IMU在短期内非常稳定，但随时间会漂移到一个不规则的角度。 + +如果设置了太多的IMU，GPS的校正在转弯时可能需要很长时间，导致转向朝错误方向。太多的GPS会导致方向（heading）来回噪声，导致转向不稳。 + +因此，设置IMU时要保留一些航向噪声，以确保转向相对平滑。比较GPS固定点到固定点的航向和传感器融合（Fused）的航向。确保它们良好跟随。GPS将是噪声的，但传感器融合的值将在这些噪声值的中间相对稳定。 + + + 自动转弯时直线段的长度。 + +设置直线腿部前后的长度（米）。较长的直线段使得车辆更美观地驶上线路。 + + + 自动转弯时直线到曲线的过渡。 + +平滑直线到曲线的突变过渡。车辆可以更容易地跟随几何形状。 + + + AB线长度 + +确保线条足够长。建议长度为田地长度的两倍。 + + + GPS信号校正数据（age）的年龄 + +在没有RTK校正信号进入或延迟之前触发警报的时间（秒）。 + + + 自动分段开关的最低速度 + +低于设定速度时，分段会关闭。 + + + 分段的默认宽度 + +更改分段数量时，将使用分段宽度的默认值。最好先设置一个分段的标准宽度，然后再设置分段的数量。然后，您可以手动编辑每个分段，如果它们各不相同的话。 + + + 选择下一个引导线 + +AOG应该提前多少秒寻找下一个引导线？您开得越快，AOG向前看得越远。AOG标记下一个引导线，您可以激活自动驾驶来驶入轨道。 + + + 自动升降控制的前瞻时间 + +AOG应该提前多少秒放下升降器？只有当它通过前地头的边界时，才会抬起装置。 + + + 光条显示的分辨率。 + +光条上的一个方块代表与目标线的偏差多少厘米。 + + + 显示线条的宽度（像素） + +像素越多，线条在屏幕上显示得越宽。允许的值：1 - 8。 + + + 分段关闭之前到达处理过的面积的时间（=设备的后行） + + + 分段在进入未处理的面积之前打开的时间（=设备的启动延迟） + + + 降低升降器的时间。 + +硬件发出“降低”信号的时间（秒）。 + + + 关闭自动驾驶的脉冲阈值。 + +根据安装的传感器，是方向盘的脉冲数，油压或电机电流。达到该值时，自动驾驶会关闭。 + + + 自动分段开关的覆盖率。 + +在100％覆盖率下，每个分段会持续工作，直到它完全驶入处理过的区域。在50％时，分段会在只有一半驶入已处理区域时关闭。对于3米分段的喷雾器，建议70％。 + + + 计算行驶方向（heading）的步长 + +通过取两点并计算与北方的角度来确定方向。您开得越慢，相对于GPS点的小偏差就越大。这种噪声导致方向相当不稳定。快速行驶时没有问题。为此，AOG记住了过去的多个时间点。步距表示您想要回溯到这个点序列中多远来计算方向。 + +大的步距提供稳定的值，但在车辆转弯时有延迟反应。 + +很短的距离会迅速反应，但也会跳动并且有更多噪声。 + +如果安装了IMU，可以设置更长的值，以获得稳定且响应快速的方向。 + + + 设备的侧向偏移 + +正值向右移动设备，负值向左。 + + + 设置重叠或留空隙 + +设置正值以允许重叠，设置负值以在处理过的轨迹之间留下空隙。这不会改变设备的工作宽度。 + + + 升起升降器的时间。 + +硬件发出“升起”信号的时间（秒）。 + + + 分段宽度 + +以厘米为单位输入分段的宽度。所有分段的总和构成工作宽度。 + + + 移动线条的步长 = Nudge Distance + +在AB线编辑窗口移动线条时建议的默认值。 + + + 轨迹线之间的距离 + +通常是喷杆的宽度。 + + + 自动转弯几何图形与边界的距离 + +从自动转弯曲线的顶点到边界的距离。车辆和半个工作宽度通过距离最短的地方时，确保不会越过边界。 + + + 分段的后行时间。例如，播种机还在播种，尽管分段已经关闭。 + + + 已更改设置 + +您已更改设置但尚未保存。如果您不发送更改的设置，它们将丢失并不会生效。 + + + 将度量单位改为英寸（imperial） + + + 将度量单位改为公制系统（m） + + + 使用GPS点（fix to fix）计算行驶方向（heading） + + + 使用VTG句子中的行驶方向（来自GPS系统） + + + 使用双天线设置的行驶方向 + + + 新车辆的名称 + +输入新车辆的名称。这个名称必须与其他名称不同。最后按保存（save）。 + + + A点 + +曲线的起始点 + -The start of the Curve Line. - - B Point - -The end of the Curve Line. - - - Pause Rec - -Pause the creation of points, continue recording points if paused. - -This is really useful if you want a straighter line instead of recording all the points. The line between the pauses will be a straight line. - -After saving the line, a small amount of smoothing is also applied. - - - Cancel Touch Points - -Delete any points touched on the line and start again. - -If you touch again after touching second point, it will start selecting the first point again. - - - Delete AB Line - -Delete the selected AB Line - - - Delete Curve - -Delete the selected curve. - - - Draw Sections - -Draw the section mapping on the field background for reference. - - - Flip Offset - -Flip the offset to the other side of line. Use before creating the curve - - - Make AB Line - -Once 2 points are selected, and distance from boundary set, make a new AB Line guidance line. You can edit the name in the textbox. - - - Make Boundary Contour - -Creates a guidance line around the whole field that is set in distance numeric entry. Usually is one half tool width away. - - - Make Curve - -Once 2 points are selected, and distance from boundary set, make a new Curve guidance line. You can edit the name in the textbox. - - - Select AB Line - -Keep touching to cycle thru the lines to select the one you want. - - - Select Curve - -Keep touching to cycle thru the lines to select the one you want. - - - Distance From Boundary - -Enter the distance left or right from the line created by the 2 points. Defaults to 1 half the tool width. - - - Boundary Display - -Touch 2 points on the boundary to make a line. Touch Create Curve or Create AB Line to make the line. Edit the name. - - - Edit Line - -Touch to edit the line to rename the default. - - - Save For Now - -Line changes not saved with the field, they are lost when loading the field again. But the changes are in effect - - - Save and Exit - -Changes are saved with the field and exit the form. - - - Delete Points on Line - -First select 2 points on the line to delete all the points for. - -Touch Delete Button. - -This removes all the points between the selected 2 points and makes a straight line. - - - Exit - -Exit the form and set the headland On. - - - Add Distance to Headland - -Adds the distance entered in the numeric entry to the existing headland. - - - Reset Headland - -Puts the headland back to the boundary, resetting it to 0 distance. - - - Add Distance - -Adds the distance set in the numeric to the line selected by the 2 points. - - - Headland Off - -Shuts off the headland completely. - - - Sections Control In Headland - -Enable of disable the turning off of sections within the headland. - - - Tool Widths - -Use the pulldown to set how many tool widths in from the boundary you want the headland to be. - -If you select it again, it will remove the previous headland and make the new one. - - - Distance Entry - -Distance entered will be added to the existing headland distance. Press the Enter Distance button to add it. - - - Selected Distance Move - -Select 2 points on the headland line you want to move independently - -Enter the distance to move the segment - can be positive or negative. - - - Move Reference Half Tool Width - -Moves the reference line one half tool width left or right. - - - Tram Off - -Cancel and delete everything. Turn the tram off - - - Nudge Reference Line - -Nudge reference line by amount shown - - - Save and Exit - -Save and activate the Tram lines. Exit the setup form. - - - Swap A to B - -Swaps the order of the line so right is left. - -This is important as tram lines are made on the right side of the line counting positive. - - - Tram Passes - -Enter the number of tram passes or use the up down arrows to change the number - + B点 + +曲线的终点 + + + 暂停 + +中断点的记录。再次按下时继续记录。 +通过在记录过程中按下暂停来生成曲线线条中的直线段。然后，暂停前后的最后一个点将通过直线连接。 +保存后，您可以选择平滑曲线。 + + + 删除点 + +删除线上的所有点，以便可以重新开始。 +在设置了2个点之后再按一个点，也会重新开始。 + + + 删除AB线 + +删除所选AB线。 + + + 删除AB曲线 + +删除所选AB曲线。 + + + 显示处理过的面积 + +显示已经处理过的面积，以便您有一个更好的概念。 + + + 切换侧偏 + +将侧偏翻转到线的另一边。在生成曲线之前使用此功能。 + + + 创建AB线 + +选择了2个点并设置了边界距离后，您可以生成新的AB线。您可以在文本框中更改其名称。 + + + 创建边界轮廓 + +根据外边界创建平行轮廓。可以设置在头田的轨迹数和额外的偏移量。 + + + 创建AB曲线 + +选择了2个点并设置了边界距离后，您可以生成新的AB曲线。您可以在文本框中更改其名称。 + + + 按下按钮以浏览线条。 + + + 按下按钮以浏览线条。 + + + 到边界的距离 + +输入到边界的右侧或左侧的距离。标准值是工作宽度的一半。 + + + 边界显示 + +在边界上点按2个点。点击AB线或AB曲线以创建线条。最后，调整线条的名称。 + + + 更改线条 + +在此更改线条或其名称。 + + + 仅为现在保存更改并离开窗口。 + +线条的更改不会与田地一起保存，而是在关闭田地时丢失。但是，更改将保持有效，直到您关闭田地。 + + + 保存并返回 + +更改将与田地一起保存，窗口将被关闭。 + + + 删除线上的点 + +首先选择线上的2个点。然后按“删除”按钮。这样，选中的2个点之间的所有点都会被删除。这会使该区域的线变直。 + + + 返回 + +关闭窗口，头田活动。 + + + 额外的到边界的距离 + +增加额外的距离，加上所选轨道的宽度。 + + + 删除头田 + +头田将被删除，距边界的距离设置为0。 + + + 添加距离 + +选择2个点并添加额外的到边界的距离（仅在选中的2个点之间）。 + + + 关闭头田 + +完全关闭头田。 + + + 头田处自动分段控制 + +设置是否在头田处自动关闭分段。 + + + 头田的轨道数 + +使用下拉菜单选择作为头田的轨道数。 + + + 添加距离 + +按下按钮后，将添加额外的头田宽度（m）。 + + + 移动段 + +选择2个点并将其移动x米（仅在选中的2个点之间）。 + + + 按半个工作宽度调整 + +将线条移动半个工作宽度。 + + + 关闭行车道 + +关闭行车道并删除它们。 + + + 移动线条 + +将线条移动x厘米 + + + 保存并返回 + +保存并激活行车道。离开窗口。 + + + 交换A和B点 + +翻转线条。重要的是，因为行车道仅在线条0的右侧创建。 + + + 生成的行车道数量 + +输入要创建的行车道的数量。 + https://www.youtube.com/watch?v=iN2cZ8avHag @@ -1675,4 +1599,4 @@ Enter the number of tram passes or use the up down arrows to change the number https://www.youtube.com/watch?v=3SdvYgx8HHc - \ No newline at end of file +