7. Debugging
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unloading, recognizing fork and picking pallet etc. Since the fork of forklift is the tail, the
direction of the forklift’s path when going to the AP to pick up and unload the cargo is: LM--
>AP goes backward, AP-->LM goes forward.
7.4.2 Special Workstation (CP, or Charging Point)
The CP point is the charging point, where the forklift is charged. The charging is controlled by
roboshop or dispatching system, and the direction of the path is heading in and backing out
or backing in and heading out; the forklift shall not turn in place and adjust the direction
here.
Note: The points on the main path should not have directions as much as possible, but
when the storage location (here refers to the AP point that needs to perform the
recognition action) or the charging point is near the main path and needs to enter the
storage location directly from the main path; when the distance between the main path
and the storage location is big, the front point can be placed between the AP point and the
main path; otherwise, the front point can only be placed on the main path.
7.4.3 Work Path
Notice: When entering and exiting the AP point, the attributes on the path shall be set to
LM-->AP backward, AP-->LM forward. After drawing, inspect carefully to prevent accidents
during use.
The forklift has two working modes- recognition mode and non-recognition mode. The
corresponding path varies depending on the working mode of the forklift and the size of the
site space. Here are some examples.
7.4.3.1 With Recognition and Rich Site Space
When the forklift works in the mode with recognition and rich site space, the path will be
drawn into “dead end highway”, which means that the forklift drives in and out in two
separate paths which are fixed in single direction (pay attention to the gap between the
cargo and the shelf when running in an arch path to prevent collisions).
