4. Start to Use ..................................................................................................................... 20
4.1 Accompanied Articles ....................................................................................................... 20
4.2 Startup of Robot ............................................................................................................... 20
4.3 Shutdown of Robot ........................................................................................................... 20
5. Battery and Charging ....................................................................................................... 21
5.1 Battery Parameters ........................................................................................................... 21
5.2 Parameters of Charger...................................................................................................... 22
5.3 Charging of Robot ............................................................................................................. 24
5.4 Storage of Battery ............................................................................................................. 24
6. Navigation and Control System ........................................................................................ 25
6.1 System Overview .............................................................................................................. 25
6.2 User Input Information ..................................................................................................... 26
6.3 Global Path Planning......................................................................................................... 27
6.4 Local Path Planning ........................................................................................................... 28
6.5 Task Planning and Action Planning ................................................................................... 29
6.6 Obstacle Detection ........................................................................................................... 30
6.6.1 Navigation Laser .................................................................................................... 31
6.6.2 Obstacle Avoidance Laser ..................................................................................... 36
6.7 Localization ....................................................................................................................... 39
6.8 Motor drivers and motors ................................................................................................ 40
7. Debugging ....................................................................................................................... 41
7.1 Connect the Robot ............................................................................................................ 41
7.2 Map Building and Editing .................................................................................................. 42
7.3 Path Navigation and Obstacle Verification ....................................................................... 45
7.4 Establishment and Configuration of Workstation (AP) with Fork Action ......................... 46
7.4.1 Workstation (AP) ................................................................................................... 46
7.4.2 Special Workstation (CP, or Charging Point) ......................................................... 47
7.4.3 Work Path .............................................................................................................. 47
7.5 Navigate the Path to Specified Point and Execute the Corresponding Action ................. 49
7.6 Control the Rising/Dropping of the Fork via Upper Computer ......................................... 51
7.7 Recognition Function ........................................................................................................ 52
7.7.1 Pallet Recognition ................................................................................................. 52
7.7.2 Material Cage Recognition .................................................................................... 54
7.8 Error Code ......................................................................................................................... 56
8. Applications ..................................................................................................................... 57
9. Product Maintenance ....................................................................................................... 58
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