使用叉车自动取托盘功能

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。底层算法见自动识别托盘取放货与托盘识别。

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 auto-pallet pick & place and pallet recognition.

前置条件 / Prerequisites

项 / Item	要求 / Requirement
叉车型号 / Forklift model	MDCS 支持的型号，已完成引擎适配 / 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 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。
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。
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）。
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.

new AutoFetchGood
{
    aX = ${anchor.X}, aY = ${anchor.Y},
    bX = ${pickup.X}, bY = ${pickup.Y},
    initSpeed    = 500,
    inShelfSpeed = 150,
    stopDist     = 80,
    width        = ${pocketWidth},
    startingSlot = 10
}

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 ``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。
Bad extrinsics or wrong width prior.
叉齿插入歪 / Tines enter skewed: `stopDist` 太小 or 雷达水平度差。
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。
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.