An inspection device includes a first data storage unit configured to store a first data which is time series according to a state of an inspection object, a second data generation unit configured to generate second data, which is a spectrogram including a first frequency component, a time component, and an amplitude component by performing short-time Fourier transform on the first data, a third data generation unit configured to generate third data including the first frequency component, a second frequency component, and the amplitude component by performing Fourier transform on time-amplitude data for each first frequency component in the second data, respectively, and a determination unit configured to determine the state of the inspection object based on the third data.

An inspection device includes a first data storage unit configured to store a first data which is time series according to a state of an inspection object, a second data generation unit configured to generate second data, which is a spectrogram including a first frequency component, a time component, and an amplitude component by performing short-time Fourier transform on the first data, a third data generation unit configured to generate third data including the first frequency component, a second frequency component, and the amplitude component by performing Fourier transform on time-amplitude data for each first frequency component in the second data, respectively, and a determination unit configured to determine the state of the inspection object based on the third data.

A method of calibrating positions of wheels in an AGV, the method including positioning a second wheel tangentially on an imaginary second circle centered with respect to a center position in which a first wheel is fixed; driving the second wheel a second distance along the second circle such that the AGV rotates about the center position; determining the second distance based on data from a second wheel sensor device of the second wheel; determining an angle of rotation about the center position based on data from a first steering sensor device of the first wheel during the rotation of the AGV; and determining relative positions between the first wheel and the second wheel based on the second distance and the angle of rotation. An AGV is also provided.

A method of calibrating positions of wheels in an AGV, the method including positioning a second wheel tangentially on an imaginary second circle centered with respect to a center position in which a first wheel is fixed; driving the second wheel a second distance along the second circle such that the AGV rotates about the center position; determining the second distance based on data from a second wheel sensor device of the second wheel; determining an angle of rotation about the center position based on data from a first steering sensor device of the first wheel during the rotation of the AGV; and determining relative positions between the first wheel and the second wheel based on the second distance and the angle of rotation. An AGV is also provided.

A system for detecting a maintenance need of an autonomous vehicle operating as part of a cargo transport system is described. The system includes a control unit and a remote sensor arranged separate from the autonomous vehicle. The control unit is arranged to obtain, via the remote sensor, a current driving behaviour of the autonomous vehicle in a test area; obtain a baseline driving behaviour of the autonomous vehicle in the test area; determine a deviation of the current driving behaviour from the baseline driving behaviour; and detect a maintenance need of the autonomous vehicle based on the determined deviation.

In an exemplary embodiment, a test system is provided for testing a power steering system for a vehicle, the test system including a motor, one or more sensors, and a processor. The one or more sensors are configured to obtain sensor data pertaining to the motor. The processor is coupled to the one or more sensors and to the motor, and is configured to: determine, using the sensor data, a desired position of the motor for providing a desired amount of torque to the power steering system in order to reach one or more target behaviors: an inertia target, a spring target, a damper target, or a friction target for the power steering system; and provide instructions for the motor to move to the desired position for providing torque to the power steering system.

In an exemplary embodiment, a test system is provided for testing a power steering system for a vehicle, the test system including a motor, one or more sensors, and a processor. The one or more sensors are configured to obtain sensor data pertaining to the motor. The processor is coupled to the one or more sensors and to the motor, and is configured to: determine, using the sensor data, a desired position of the motor for providing a desired amount of torque to the power steering system in order to reach one or more target behaviors: an inertia target, a spring target, a damper target, or a friction target for the power steering system; and provide instructions for the motor to move to the desired position for providing torque to the power steering system.

A system and method for aligning a floor target relative to a vehicle, the floor target including a calibration pattern for observation by a vehicle safety system sensor during calibration. The system includes at least one optical projection system consisting of at least one optical projector having an orientable projection axis. The optical projection system is operatively controlled by a processor to orient said projection axis towards a selected location on the floor surface relative to the vehicle, and to activate the optical projected to illuminate a point, a line, or a boundary, against which the floor target is aligned.

A system and method for aligning a floor target relative to a vehicle, the floor target including a calibration pattern for observation by a vehicle safety system sensor during calibration. The system includes at least one optical projection system consisting of at least one optical projector having an orientable projection axis. The optical projection system is operatively controlled by a processor to orient said projection axis towards a selected location on the floor surface relative to the vehicle, and to activate the optical projected to illuminate a point, a line, or a boundary, against which the floor target is aligned.

The present invention is to evaluate a steering function of a test piece which is a vehicle having an automatic steering function or a part thereof on a chassis dynamometer, and is a vehicle testing system that performs a running test of a test piece which is a vehicle having an automatic steering function or a part thereof. The vehicle testing system includes a chassis dynamometer for performing a running test of the test piece, and a steering reaction force inputting device that inputs a steering reaction force to a steering rack gear of the test piece with a tie rod being removed, in which the steering reaction force is input to the test piece traveling on the chassis dynamometer to evaluate the steering function of the test piece.