查看“使用叉车自动取托盘功能”的源代码

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== 概述 / Overview ==
本页是 ''终端使用手册''，面向集成商 / 现场调试工程师，描述如何在 SimpleComposer 中给一台 MDCS 叉车启用"自动取托盘"功能。底层算法见 [[Special:MyLanguage/自动识别托盘取放货|自动识别托盘取放货]] 与 [[Special:MyLanguage/托盘识别|托盘识别]]。

This is an '''end-user manual''' for integrators / commissioning engineers: how to turn on the "auto-pickup pallet" feature for an MDCS forklift in SimpleComposer. The underlying algorithms are documented at [[Special:MyLanguage/自动识别托盘取放货|auto-pallet pick & place]] and [[Special:MyLanguage/托盘识别|pallet recognition]].

== 前置条件 / Prerequisites ==
{| class="wikitable"
! 项 / Item !! 要求 / Requirement
|-
| 叉车型号 / Forklift model || MDCS 支持的型号，已完成 [[Special:MyLanguage/MDCS引擎适配机器人入门教学|引擎适配]] / a model already adapted via the engine-adaption tutorial
|-
| 前向 2D 激光雷达 / Front 2D lidar || 安装高度 ≈ 托盘叉孔高度（180–220 mm）/ height ≈ pocket height
|-
| 雷达外参标定 / Lidar extrinsics || 通过 [[Special:MyLanguage/标定激光雷达外参|外参标定]] 完成 / done via the calibration guide
|-
| Detour 定位 / Detour localisation || 在工位附近的位姿误差 ≤ ±50 mm / ±2° / pose error near the station ≤ ±50 mm / ±2°
|-
| Medulla 上位 IO / Medulla upper-IO || 叉齿高度可读可写：`forkHeight`, `forkAtTarget` / fork height readable & writable
|-
| 托盘规格 / Pallet spec || 标准木 / 塑料托盘，叉孔宽度已知 / standard wood/plastic, pocket span known
|}

== 操作步骤 / Steps ==
=== 1. 在 CAD 上声明托盘工位 / Declare the pallet station on the CAD canvas ===
在 SimpleComposer CAD 工具中（见 [[Special:MyLanguage/开发手册 - SimpleComposer界面开发 - CAD工具|CAD工具]]）放置一个 ''托盘类站点''：
In the SimpleComposer CAD tool place a '''pallet station''' that includes:

* '''Anchor 站点 / Anchor site'''：托盘正前方约 1.5 m 处。<br />Roughly 1.5 m in front of the pallet — the car will line up here.
* '''Pickup 站点 / Pickup site'''：托盘几何中心。<br />The pallet's geometric centre — the destination of the fine-alignment step.
* '''托盘几何先验 / Pallet priors'''：`pocketWidth`（叉孔间距）、`pocketHeight`（叉孔距地）、`pocketDepth`（叉孔深度）。<br />Fill in the prior widths and heights so the detector can reject false positives.

=== 2. 给车型分配 AutoFetchGood 动作 / Bind the AutoFetchGood movement to the forklift ===
在 SimpleComposer "车型 → 动作映射"中，把 ''pallet-pickup'' 动作绑定到 `AutoFetchGood` 的实例化模板，预填入站点参数（CAD 自动填）：
In SimpleComposer "vehicle → action map", bind ''pallet-pickup'' to an `AutoFetchGood` template; CAD parameters auto-flow into the fields.

<syntaxhighlight lang="csharp">
new AutoFetchGood
{
    aX = ${anchor.X}, aY = ${anchor.Y},
    bX = ${pickup.X}, bY = ${pickup.Y},
    initSpeed    = 500,
    inShelfSpeed = 150,
    stopDist     = 80,
    width        = ${pocketWidth},
    startingSlot = 10
}
</syntaxhighlight>

=== 3. 配置叉齿动作 / Wire the fork actuator ===
车型的 ''pickup tail action'' 通常是：
The pickup-tail action is typically:

# 等位置达成 / wait for pose
# 设置 `forkHeight = pickupHeight`（举升 100 mm 离地）/ raise fork
# 等 `forkAtTarget == 1`，超时 5 s / wait for done, 5 s timeout
# 触发 `[[Special:MyLanguage/Medulla-API|`SetUpperIO`]]` 上锁信号 / lock signal
# 倒车 1.5 m 离开工位 / reverse 1.5 m

=== 4. 试运行 / Dry run ===
在 SimpleComposer 上点 "Test Pallet Pickup" 按钮，车会：
Click ''Test Pallet Pickup'' in SimpleComposer; the vehicle will:

# 巡线到 Anchor。/ Run to the anchor site.
# 开启托盘检测，输出 ''confidence''；在 CAD 画布上可视化两个叉孔点与中轴线。/ Run detection; visualise the two pocket points and the midline on the canvas.
# 精对位，叉齿升起，倒退离场。/ Fine-align, lift, reverse out.

=== 5. 常见调试 / Common adjustments ===
* '''置信度低于 0.5 / Confidence < 0.5''': 雷达外参或托盘宽度先验有误。<br />Bad extrinsics or wrong width prior.
* '''叉齿插入歪 / Tines enter skewed''': `stopDist` 太小 or 雷达水平度差。<br />Bump `stopDist`, recheck lidar level.
* '''停车后晃动 / Vibration on stop''': 减小 `inShelfSpeed` 至 100 mm/s。
* '''倒车出库刮托盘 / Pallet scraped on withdraw''': 倒车 dst 要至少 ''叉齿长度 + 200 mm''。<br />Reverse target must clear the fork length + 200 mm safety.

== 安全注意 / Safety notes ==
* 自动取托盘期间，工位周围 1.5 m 内不得有人 / No personnel within 1.5 m of the station during autonomous pickup.
* 联动场景（双车抬同一托盘）请参见 [[Special:MyLanguage/双车/多车联动|双车 / 多车联动]]。
* 上线前必须在 ''空载 + 重载 + 偏心载'' 三种工况下做完整复测。/ Validate empty / loaded / off-centre before going live.

== 相关页面 / See also ==
* [[Special:MyLanguage/自动识别托盘取放货|自动识别托盘取放货]]
* [[Special:MyLanguage/托盘识别|托盘识别]]
* [[Special:MyLanguage/使用自动对准料架功能|使用自动对准料架功能]]
* [[Special:MyLanguage/使用叉车料架堆叠功能|使用叉车料架堆叠功能]]
* [[Special:MyLanguage/叉车适配案例|叉车适配案例]]

[[Category:运动控制使用手册]]