Research On Vision And Laser Integrated Navigation Of Automatic Guided Forklift

With the rapid development of industrial automation,Automatic Guided Vehicle(AGV)has become a hot topic in current research.Among them,the automatic guided forklift has a series of advantages such as large load,stacking and flexibility,which has become a typical category in the AGV.This paper focuses on the AGV laser and visual composite guiding technology of forklift to improve the precision and speed of its guiding and positioning.This paper first constructs the AGV kinematics model of the forklift model.Then,by comparing the AGV visual guidance model and the laser guidance model,a visual and laser composite guidance model is established.Based on Linux system,OpenCV,a visual processing platform,is used to develop multi-threaded image processing technology.The image processing frequency is 30 Hz when there is no QR code in the field of view,and the image processing speed is 25 Hz in the other case.Based on the three path extraction algorithms of hough transform,least squares and particle swarm optimization,a guided method of laser and visual guidance is proposed,which not only solves the fast guidance of free path,but also realizes the precise obstacle bypass.The multi-function vehicle integrated controller was produced,which realized the integration of data acquisition,processing and monitoring with the Cortex-A53 quad-core processor as the platform,and improved the integrated function and self-control ability of the vehicle control.Finally,this paper applies the laser and visual composite guidance technology to the positioning and guidance of the forklift AGV.The test results show that the composite guide realizes the complementary advantages of vision and laser guidance,and further improves the guiding and positioning speed and precision of the forklift AGV.