autonomous forklift presentation

7/28/2019 Autonomous Forklift presentation.

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• Introduction.

• Aims & Objectives.

• Mechanical Design.

• Electr0nic Design.

• Working Principle.

• Improvements.• Questions.



INTRODUCTION

Autonomous Guided Vehicles more commonly known as AGVs.

Since development in the 1950’s have known a rapidgrowth.

Extensively and widely used in every industry.

Major key component for the development of FMS

systems. In spite of high cost of investment numerous

advantages are offered.



Aims & Objectives

Sorting of loads for delivery in specific trailer.

RF communication between Central PC and Forklift. Ability of autonomous forklift to navigate through a

predefined path.

Loading of standard trailers in a specific pattern.

Obstacle avoidance along path .



Mechanical design

• The material selected was High-density polyethylene (HDPE).

• Tamiya dual gear box was used for gearing.

• Tracks & wheels fordifferential drivesystem.

• A cd drive was used forthe lifting mechanism.



Electronic design

Arduino Board.

Navigation System.

Electronic Circuitry.



Arduino Board• Huge library availableonline.

• Relatively cheap.

• Easily programmed viaUSB & interfaced withsoftware.

• 6 Analog inputs.

• 14 Digital inputs/outputs.

• 6 PWM ports out of 14.



Navigation System• Line following method with use of LDRs and Leds.



Electronic Circuitry

H-Bridge (L293D).

Shift register.

Transceiver.

Ultrasound.



H-Bridge• Used to control the

steering and the forksmotors.

• Supports up to 36 V.

• Capable of PWM.



Shift Register• The 74HC595 shift register

was used to increase thenumber of digital outputsof the Arduino by 8.

• The shift register was usedto control the inputs of thetwo H-bridge ICs.



Transceiver• The Nordic Transceiveris used to establish two- way communicationbetween the central PC& Forklift.



Ultrasound Sensor• The HC-SR04 module was used for non-contact obstacle detection & trailerloading.

• The sensor has a range up to 4m and accuracy of 0.3cm .



3D Design



Working Principle

Predefined path.

Central PC. Forklift.



Predefined Path



Central PC

•

Sorting of loads based on barcodes.• Transmission of information via RF.



Predefined Path



Obstacle Detection

Any obstacle found within a distance of 25cm of the forklift would cause the latter to stop.

Prolonged obstruction of path would becommunicated to central PC via RF.



Predefined Path



Trailer loading pattern

•

AGV continues to move forward, until the required distance is not reached.• Required distance = width of pallet + minimum clearance between pallets /

pallet and trailer wall



Improvements

Design and implementation of a charging area at theparking zone.

Use of wireless camera instead of LDRs for line

following Construction of more similar AGVs to share work

load.

Substitution of track and wheels system by Omnidirectional wheels .

Design of a graphical user interface for the operator tocontrol the sorting process more efficiently.



QUESTIONS ??

autonomous forklift presentation

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