TuskE (CE version) pallet robot has built a three-level anti-collision system covering "long-distance warning → medium-distance obstacle avoidance → near-end forced protection" through multi-sensor fusion architecture, dynamic path planning algorithm and mechanical-software dual redundancy design, thus approaching the "zero collision" goal in complex warehousing scenarios.

1. Core technology: multi-sensor collaboration and algorithm control

(1) Front stereo vision system (3-meter detection range)

Hardware configuration: forward-mounted 87°×56° wide-angle stereo camera, resolution 1280×720, depth frame rate 90fps, can generate millimeter-level precision 3D point cloud within 3 meters (reference).

Dynamic obstacle recognition: real-time distinction between fixed shelves, mobile forklifts, operators and other objects through deep learning algorithms (such as the real-time warehouse status update function of Farseer vision system, reference).

Pallet posture detection: combined with DM code scanning, determine the position deviation of the pallet socket (±5mm accuracy) to avoid fork arm collision caused by pallet tilt (reference).

Anti-interference capability: supports stable operation in a strong light environment of 80,000 Lux, avoiding misjudgment caused by reflection or shadow (reference).

(2) Fork tip photoelectric + collision switch (100mm collision avoidance protection)
Photoelectric sensor: deploy infrared/laser ranging module at the end of the fork tip, with a detection distance of ≤100mm, triggering deceleration or stopping when approaching an obstacle (reference, user original parameters).

Physical collision switch: adopts spring buffer contact switch, which can still trigger emergency braking at the moment of physical contact even if the photoelectric system fails (reference).

(3) 360° laser obstacle avoidance (four-level protection layer)
Sensor layout: front/rear dual laser radar (25m detection distance, 0.05°/1mm resolution) to achieve omnidirectional coverage, combined with lateral ultrasonic sensor to supplement blind spot detection (reference).

2. System integration: closed-loop control from perception to execution

(1) SLAM+DM code dual navigation mode
Global path optimization:
SLAM laser: generates high-precision map based on 25m detection range, and matches warehouse layout changes in real time (reference).
DM code assisted positioning: QR codes are arranged at key nodes on the ground to correct the cumulative positioning error to ±3mm (reference).

(2) Mechanical-electrical redundancy design
Actuator protection:
Floating fork: ±7mm height adaptive adjustment to cope with pallet deformation or uneven ground (reference user original parameters).
Collision protection strip: The body is wrapped with high elastic polyurethane strips to absorb ≤50kg collision impact (reference).
Electrical fault tolerance: Dual CAN bus communication architecture, basic obstacle avoidance function can still be maintained when a single-channel failure occurs (reference).