Design Of Automated Guided Vehicle Platform Based On Visual Navigation

Chinese manufacturing industry has been considered as low technology content and lack of innovation for a long time. Nowadays, in 2015, in order to improve the competence of its products in the worldwide, the Chinese government puts forward national strategy of "smart manufacturing 2025". Manufacturing industrial upgrading has become the trend of the times. Intelligent logistics as an important component of intelligent manufacturing attracts more and more attention. AGV(Automated Guided Vehicle) is the core part of intelligent logistics. More and more domestic and international manufacturing companies focus and compete on AGV.Based on the background above, this topic focuses on the logistics forklift in the factory as the main research object. This topic mainly does some research about process of the hardware platform of AGV and motion control algorithm. The main research contents are as follows:The AGV forklift functional requirements are analyzed. Some core components such as gyroscope, laser sensor of obstacle avoidance, incremental encoder and absolute encoder are selected. The original forklift truck and added parts are measured and designed in Solid Works 2014.AGV circuit and the electrical characteristics of the newly added modules are analyzed. The overall hardware block diagram of the AGV forklift and peripheral circuit are designed. STM32F103ZET6 processor is the core processing chip. One core minimum system board and one interface board are designed in Altium Designer 6.9.The mathematical model of AGV forklift is establish. The angle control method of AGV forklift and the analysis of the actual movement process of speed control requirements are discussed and researched. The codes of control algorithms are been wrote in VS2012 software using c # language. And unit tests are used to improve the quality of the code and find bugs before running in the real AGV machine. At last, the code runs well and achieve the original purpose in the AGV.Finally, the conclusion of this paper and prospects for the follow-up research are summarized and made.