Building Materials Handling AGV Design Based On Construction Site

With the continuous development of civil construction industry,more and more construction enterprises pay attention to the plate of building material handling.In the past,the labor cost of building materials transportation depended on demographic dividend,but with the change of China’s population structure,the demographic dividend gradually disappeared,leading to higher and higher labor cost.The use of building materials handling AGV can effectively improve the transportation efficiency,make the working environment safer and achieve the goal of reducing labor costs.According to the complex environment of building construction,this paper designs a building materials handling AGV,and studies the navigation positioning,path planning,guidance mode,mechanical structure and other hot issues of AGV.The main contents include:Firstly,the application and development of traditional AGV are described,and the main technologies of AGV are briefly summarized.According to the specific environment of building construction,the performance requirements of building materials handling AGV are proposed.Combined with the performance and technical requirements of building materials handling AGV and the characteristics of building materials transportation,the system composition and key technologies of building materials handling AGV are summarized.Secondly,according to the complex environment of construction and the type of goods,the walking mechanism,steering mechanism and lifting mechanism of AGV are designed,and the corresponding motor selection is determined.A three-dimensional model of AGV is established by using Solid Works software,which greatly reduces the construction time of the object.AGV trolley control system takes STM32 industrial control panel as the lower machine and raspberry pie as the upper machine.Starting from the overall structure of hardware module,lidar system,building materials loading and unloading system,drive motor system,steering motor system,human-machine interaction system and so on are designed.Finally,the Gmapping algorithm uses the observation data of the lidar and the motion control data of the building material handling AGV to update the grid map and the pose of the building material handling AGV,and then uses the Reeds-Shepp algorithm to plan multiple transportation routes,and then from the multiple routes Find the shortest transportation route,and the simulation results show that the planned route for building materials handling AGV is feasible and effective.