查看“复合卷料机械手叉车”的源代码

<languages/>

== 概述 / Overview ==
"复合卷料机械手叉车"是 MDCS 中的复合机器人形态：把 ''叉车''+''机械手''+''卷料专用夹具''组合在一台 AGV 上，实现卷料（钢卷、纸卷、塑料卷、布卷等）的自动取放与上下料。它是 ''叉车适配 + 卷料夹具适配 + 机械手协同''的综合案例。

The "composite coil-handling robotic forklift" combines '''forklift''' + '''robotic arm''' + '''coil-specific gripper''' on one AGV to autonomously handle coils (steel, paper, plastic, fabric, …). It's the composite of [[Special:MyLanguage/叉车适配案例|forklift adaptation]] + coil-gripper adaptation + manipulator coordination.

== 业务场景 / Business scenarios ==
* '''钢卷仓库''' / Steel-coil yard: 单卷重 5–25 t，堆叠 3–5 层
* '''造纸 / 卷烟生产线''' / Paper / cigarette lines: 中等卷重，节拍紧
* '''汽车冲压线''' / Auto stamping: 卷料上料 + 废料下料
* '''纺织''' / Textile: 布卷搬运 + 上下料

== 硬件组成 / Hardware ==
{| class="wikitable"
! 部件 / Part !! 规格 / Spec
|-
| 底盘 / Chassis || 重载叉车 / 牵引车 / heavy-load forklift or tractor
|-
| 机械手 / Arm || 6-DoF 工业臂或 SCARA / 6-DoF or SCARA
|-
| 卷料夹具 / Coil gripper || V 形托架 + 夹紧机构 / V-cradle + clamp; 或 ''C 形钩'' / C-hook
|-
| 视觉 / Vision || 3D 相机扫卷端面识别中心 + 直径 / 3D camera for coil-end ID
|-
| 激光雷达 / Lidar || 前向 + 侧向（多激光融合）
|-
| 负载传感 / Load sensor || 称重模块；溢出阈值即报警
|}

机械手的关注点：足够长以触到地面卷 + 提到货架；足够强以拿动单卷重量；末端夹具与卷料 V 形配合好。
Key arm requirements: long enough to reach a floor coil and lift to rack, strong enough for single-coil weight, end-effector matches the V-cradle profile.

== 1. Medulla 适配 / Medulla side ==
比标准叉车多了机械手 + 卷料夹具的 IO：
On top of a standard forklift, add IO for the arm + the coil-specific gripper:

<syntaxhighlight lang="csharp">
public class CoilFork : CartDefinition
{
    // 底盘 IO（同 LB14 forklift）/ Chassis IO same as a regular forklift...

    // 机械手 IO / Arm IO
    [AsUpperIO] public float[] armJointTgt = new float[6];
    [AsUpperIO] public bool   gripperClose;
    [AsLowerIO] public float[] armJointEst = new float[6];
    [AsLowerIO] public bool   gripperClosed;
    [AsLowerIO] public float  coilWeight;

    // 卷料夹具 IO / Coil gripper IO
    [AsUpperIO] public bool   vCradleLift;          // V 托架升起
    [AsUpperIO] public bool   clampOn;              // 夹紧
    [AsLowerIO] public bool   clampForceOK;         // 夹紧力到位
    [AsLowerIO] public bool   coilDetected;         // 卷在槽内

    [AsInitParam] public string armConfig = "armconfigs/UR10.json";
}
</syntaxhighlight>

== 2. Clumsy 自动驾驶适配 / Clumsy side ==
卷料场景多了几个特定 Movement：
A few coil-specific Movements:

* `CoilApproach` — 用 3D 相机识别卷端面，AGV 居中对位
* `CoilPickWithArm` — 机械手放 V 托架 → 卷滚入托架 → 升起 → 夹紧
* `CoilPlaceOnRack` — 把卷放到 V 形支架 (rack saddle)
* `CoilDestackFromGround` — 地面堆叠的卷分层取下

<syntaxhighlight lang="csharp">
public void PickCoilFromGround(double sx, double sy, int srcId)
{
    Queue(
      async () => DriveTask.WaitDriveTask(new SteeringLineFollowing
              { srcX = currentX, srcY = currentY,
                dstX = sx, dstY = sy, basespeed = 400 }.Follow()),
      async () =>
      {
          // 3D 相机识别卷
          DriveTask.WaitDriveTask(new CoilApproach
              { stopDist = 600, coilDiamMax = 1500 }.Get());
      },
      async () =>
      {
          // 机械手伸出 + V 托架放到卷下
          await MoveArmTo(grabPose);
          SetUpperIO("vCradleLift", false);
          await Task.Delay(500);
          DriveTask.WaitDriveTask(new ForwardTracker
              { dstAhead = 800, basespeed = 100 }.Get()); // 微推让卷滚入托架
      },
      async () =>
      {
          SetUpperIO("vCradleLift", true);
          await WaitForLowerIO("coilDetected", 4000);
          SetUpperIO("clampOn", true);
          await WaitForLowerIO("clampForceOK", 3000);
      });
}
</syntaxhighlight>

== 3. SimpleComposer 端 / SimpleComposer side ==
* '''带卷包络''' / Loaded envelope: 卷直径影响 ''车体外缘''，必须声明对应大包络。
* '''可达性约束''' / Reachability: 持卷在低净高区段降速 + 禁止某些急转。
* '''机械手姿态约束''' / Arm pose: 行驶时机械手必须收回到 ''行驶姿态''；离开取放工位前不允许行驶。

* The carrying envelope expands with coil diameter; declare an alternate envelope.
* Reachability prohibits sharp turns + low-clearance corridors when carrying.
* Arm pose must be 'stow' before driving; refuse motion otherwise.

== 4. 安全 / Safety ==
* '''卷脱落自动停车''' / Coil-drop auto-stop: `coilDetected` 在搬运中突然为 false → e-stop。
* '''机械手碰撞监测''' / Arm collision: 关节力矩 > 阈值 → e-stop。
* '''负载超限''' / Overload: 单卷 > 设计载重 → 拒绝取。
* '''人员靠近''' / Personnel proximity: 工作半径内 1.5 m 任何动态物体 → e-stop。

== 5. 节拍 / Throughput ==
单卷搬运参考节拍：
Per-coil cycle:

{| class="wikitable"
! 阶段 / Stage !! 时间 / Time
|-
| 巡线到取卷工位 / Travel to source || 30–60 s
|-
| 3D 视觉识别 + 对位 / 3D recognition || 5–10 s
|-
| 机械手取卷 / Arm pickup || 15–25 s
|-
| 巡线到目标工位 / Travel to dest. || 30–60 s
|-
| 机械手放卷 / Arm place || 15–25 s
|-
| 离开 / Withdraw || 10–15 s
|-
| 单次总节拍 / Per-coil total || 1.5–3 min
|}

== 相关页面 / See also ==
* [[Special:MyLanguage/叉车适配案例|叉车适配案例]]
* [[Special:MyLanguage/全向车适配案例|全向车适配案例]]
* [[Special:MyLanguage/使用叉车自动取托盘功能|使用叉车自动取托盘功能]]
* [[Special:MyLanguage/3D相机适配|3D相机适配]]
* [[Special:MyLanguage/识别料框并堆垛拆垛|识别料框并堆垛拆垛]]

[[Category:特殊技术方案]]