Let's Make Robots!

Laser guided AGV

Transport components out of robot cell

I'm working on a bachelor's project, together with 5 other students, where we're going to continue development of and improve a laser guided AGV.

The AGV in picture and movies is the one produced by a group last year and we're keeping most of it. The major change we're planning is to remove the loading area on top and instead have it fetch a trailer of some sort. Minor changes include adding turn sensors on drive wheels to get better movement feedback - one of the problems with the old one is unreliable position data from the NAV200 but it will hopefully improve if we feed it somewhat accurate velocity data. We might also stick some ultrasonic sensors for collision avoidance on it. Otherwise the main problem is to rewrite the control software to make it a lot faster and more reliable. Hopefully we'll also be able to find out why the bluetooth connection to the central computer drops every now and then.

 

010218 update
Been a little busy at university so no time for updates. We're completely rewriting the software, both AGV firmware and the controlling / route planning PC software. So far the bluetooth and motors are working, so we have a pretty fast computer controlled RC tank :) We're installing the homemade tachometers so we can create a control loop for the propulsion.

And we've also changed the plans of how you will work with the AGV. Now you'll mark disallowed areas on the map and the AGV will find the shortest route to the goal automatically, instead of you having to place navigation nodes and draw edges/lanes.

Today we're (re)starting the work of integrating the NAV200 with the rest of the system.

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That Video is great. Speed up a video and play Benny Hill music. That's always gonna make me laugh. Good look with the project.

I really like your work Mr. Johanar. Hope you to get better results and finalize it in the best way!

The chassis is nicely done. Pretty creative idea too!
cool thasnks , i like the project as well 
hay i was planning on getting some of those tracks , would you recomend them for outside use(only going over grass ) and how much noise do they make? in the video it seems like alot 

I don't think they'd be suitable for grass. Maybe concrete or asphalt if you have to go outdoors, but they're pretty smooth and there are thin "slits" in the rubber (approx 0.5mm) so I think they would slip on the grass and tons of dirt would get stuck in the tracks.

 --- edit: our motors make a lot of noise so I can't really hear if the tracks do as well :)

Can you explain your Laser guidance system ?  as it does not appear to be using it on the videos ! ,

I am currently working on a Laser Guidance system too, so you post greatly interests me......

Mystery Man is correct, the laser is invisible so you can't see it in action. They use it in the sped up clip with Benny Hill music.

It might seem a little bothersome that you need reflectors set up, but I think it's less of a problem in a real industrial application.

 

Here's a brief summary of how it works:

Put lots of reflectors in the operational area. You can either measure the reflectors exact position (in mm) and transfer from a PC, or have the NAV 200 scan it's surroundings automatically (which is less accurate). This mapping information is stored in the NAV 200, so you don't have to care about it when it's done.

When you've disconnected your AGV and turned it on, the NAV200 will scan it's surroundings (initial scan) and find out where it is. As long as it can see 3 or more reflectors it should be able to determine it's absolute position within a couple of seconds.

After that the NAV200 switches to quick scanning mode where it performs an update 8 times per second and delivers it's position (in mm, so it's pretty precise), angle, velocity and angular velocity.

And of course there's a lot more advanced functions, to help you navigate through narrow corridors etc where you see fewer than 3 reflectors.

 

The previous year's group had problems with the NAV200 getting lost when accelerating and turning too fast so this is definitely something we're going to try to solve.

 

If you're really interested you can read the manual for it :P

https://www.mysick.com/partnerPortal/ProductCatalog/DataSheet.aspx?ProductID=26535

Or the telegram datasheet

https://www.mysick.com/partnerPortal/ProductCatalog/DataSheet.aspx?ProductID=31967

And here's a product brief

https://www.mysick.com/partnerPortal/ProductCatalog/DataSheet.aspx?ProductID=18089

All is clear now...... will this type of laser "fluores" smoke or CO² (or particles of any type)- for tracing the beam?

(sorry to ask such a question but i am not familiar with UV lasers).

And i wish you all the best in tuning the accuracy - its a mean machine already...

Same interest here, did some research.
Found another video on youtube:
http://www.youtube.com/watch?v=9zXChwf3KW0

Appears to be working with reflectors and a rotating uv-laser.
Not ideal in every situation, if the reflectors are blocked :(

Hoped I answered your question