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AUTONOMOUS FORKLIFT ROBOT

AUTONOMOUS FORKLIFT ROBOT. BY: ALEX COLBOURN ALEXANDER GEORGE RYAN TANG. PROJECT GOAL. Use Improved sensors and feedback control Create a more efficient forklift system and replace the claw Create an efficient/cost effective mechanical design

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AUTONOMOUS FORKLIFT ROBOT

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  1. AUTONOMOUS FORKLIFT ROBOT BY: ALEX COLBOURN ALEXANDER GEORGE RYAN TANG

  2. PROJECT GOAL • Use Improved sensors and feedback control • Create a more efficient forklift system and replace the claw • Create an efficient/cost effective mechanical design • Use computer vision with PixyCam to detect boxes and shelves. • Color Coded system.

  3. Robot Detects a Color Coded Box Robot Detects a Color Coded Shelf Robot Searches for Another Box SOLUTION • Robot moves to shelf • Robot aligns box with shelf and drops off the box. • Robot moves to box • Pick up designated box

  4. Pixy CMUCAM5 Camera Adafruit VL53L0X Laser Sensor Arduino Uno MATERIALS Adafruit Stepper/Motor Shield V2.3 4 DC Motors Elegoo Smart Robot Car Frame 4 AA Battery Case Limit Switches Raspberry Pi 3 VEX Battery Packs BNO055 IMU Elegoo 18650 Battery

  5. SENSORS And Microcontrollers

  6. DESIGN • Color Codes to reduce false positives

  7. WIRING DIAGRAM

  8. PROGRAM • The Arduino Uno stores the commands to actuate the motors. • USB serial communication between controllers • The Pixycam CMUCAM5 tracks multiple color coded boxes/shelves. • Laser TOF sensor for distance • Encoder and limit switches control movement of linear motion system. • Forklift limit switch detects if the box is on the forks. • Upper limit switch stops box from being lifted too high. • Encoder allows choosing different shelf heights • IMU for precise turns and trajectories

  9. FUTURE PLANS • Create a larger sized model • Enclosed casing around robot to protect electronics. • Get higher torque motors • Resolve integration issues.

  10. Problems Encountered • Individual components worked great but full scale integration was glitchy • Too much overhead, ran out of processing power and PI froze • C++, Python 2, and Python 3 PI libraries - Had to pass data between all 3 • Precision steering was problematic because of the forklift weight • Tried many combinations of stepper motor, dc motors, and control systems • Need much higher torque to steer in small increments • Caused several complete mechanical redesigns

  11. VIDEO PROOF (Full demo very soon)

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