Research And Design Of Open AGV Forklift Experimental Platform

With the rapid development of China’s economy,the traditional manual handling method in the factory can no longer meet the rising production demand.In recent years,the demand for equipment with high automation and flexibility in factory logistics has been increasing,which has prompted the handling equipment to change from manual to automatic and intelligent.direction transformation.With the advancement of technology,handling equipment has begun to move closer to advanced technologies such as intelligent identification and autonomous navigation and positioning.As one of the main equipment in logistics handling equipment,forklifts have also derived intelligent AGV(Automated Guided Vehicle)forklifts,which are oriented to AGV forklift platforms Advanced algorithms such as industrial site intelligent control,machine vision,deep learning,multi-machine collaboration,production line and logistics collaboration have become research hotspots.There are many obstacles for colleges and universities to carry out related research by directly purchasing commercial AGV forklifts.The electronic control system,software architecture,and control algorithms of AGV forklifts are not open to commercial protection,making it difficult for colleges and universities to carry out in-depth research based on existing AGV forklifts.Aiming at the above problems,this paper studies and designs an AGV forklift experimental platform,and researches and analyzes the key technologies in it.The main research contents of the thesis include:1)Research and analyze the requirements of AGV forklifts from three aspects:mechanical design,control system,and environmental perception,and then put forward the design requirements of forklifts.2)Analyze and design the main mechanical structure of the forklift,complete the selection of the chassis structure,steering wheel and fork The torque required for the lifting motor was calculated.3)Completed the analysis and design of the control system,selected the controllers of the upper computer and the lower computer according to the research needs of the laboratory,designed the control circuit,completed the motion control analysis and writing of the control program,and adjusted the PID parameters of the chassis motor to ensure safety The system is introduced,and the upper computer system is built based on the.NET platform to realize remote interaction.4)The visual positioning system is analyzed and designed,using RGB-D camera as the visual sensor,using YOLO and U-net algorithm combined with point cloud processing technology to detect and locate the experimental target in three-dimensional space.5)The above system has been verified experimentally,and the experimental results meet the design expectations.