laserProtectArea

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xMin

Definition: The minimum value of the x-coordinate of the laser protection area in the car body coordinate system.

Explanation:

xMax

Definition: The maximum x-coordinate value of the laser protection area in the vehicle body coordinate system.

Explanation:

width

The length of the laser-protected area in the y-direction.

The laser protection area is a rectangle with x-coordinate symmetry.

Laser Protection Area Instruction

The laser protection area is defined as the area where the single-line laser can detect obstacles only at one height. Therefore, the laser point obstacle should only be detected on the outline of the laser plane car body. The body profile of the laser plane is defined by the laser protection area, which can be found in the model file laserProtectArea.

When using forklift forks to handle goods, it is important to note that the vehicle may come into contact with the goods, potentially causing collisions with both real and virtual lasers. To prevent false triggering of collisions, a laser safety zone is used to define the shape of the vehicle body for collision detection with the lasers.

Figure 1 shows the real outline of the forklift truck represented by the black rectangle, while the red rectangle represents the laser protection area. A collision is only triggered if the laser or virtual laser dot is predicted to overlap with the red area. For collision detection, other sensors such as infrared still use the real forklift contours.