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Autonomous Counterbalance Forklift: Autonomous forklift capable of transporting pallets
KTH, School of Industrial Engineering and Management (ITM).
KTH, School of Industrial Engineering and Management (ITM).
2019 (English)Independent thesis Basic level (degree of Bachelor), 10 credits / 15 HE creditsStudent thesisAlternative title
Autonom Motviktstruck (Swedish)
Abstract [en]

This thesis explored the possibility to use line following technology to automate forklifts in a warehouse scenario. This was done to reduce the need for staff to always be present in the warehouse. A prototype forklift was constructed with three wheels, where driving and steering was done by the rear wheel. To control the forklift an Arduino Uno was used. The line following was done using Infrared Radiation (IR) sensors. Different setups of line following sensors were tested to achieve a forklift capable of following a line. Different layouts of the operating area were also tested.

Line following was found to work best when two sensors were placed in front of the front wheels when going forward and two by the back wheel when reversing. The conclusion was made that a setup of four sensors was enough to achieve a line following forklift.

For the operating area, the best layout was found to be an X-shaped one. Using 90° corners proved to be the easiest to navigate.

Abstract [sv]

Denna avhandling undersökte möjligheten att använda linjeföljningsteknologi för att automatisera gaffeltruckar i ett varuhus. Detta gjordes med målet att minska behovet på att alltid ha personal närvarande. En gaffeltrucksprototyp konstruerades med tre hjul, bakhjulsdrift och styrning på bakhjulet. För att styra gaffeltrucken användes en Arduino Uno.

Linjeföljningen utfördes av IR sensorer. Tester utfördes på olika konfigurationer av linjeföljarsensorerna för att uppnå linjeföljning. Utformningen på arbetsområdet testades också. Linjeföljning visade sig fungera bäst när två sensorer var placerade framför framhjulen när man körde framåt och två vid bakhjulet när man backade. Slutsatsen blev att fyra sensorer var tillräckligt för att uppnå linjeföljningsförmåga. Den bästa utformningen på arbetsytan konstaterades vara en X-formad yta. Att använda 90° hörn visade sig vara lättast att navigera genom.

Place, publisher, year, edition, pages
2019. , p. 49
Series
TRITA-ITM-EX ; 2019:31
Keywords [en]
mechatronics, forklift, autonomous, line follower.
Keywords [sv]
mekatronik, motviktstruck, autonom, linjeföljare.
National Category
Engineering and Technology
Identifiers
URN: urn:nbn:se:kth:diva-264498OAI: oai:DiVA.org:kth-264498DiVA, id: diva2:1373807
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Examiners
Available from: 2019-11-28 Created: 2019-11-28 Last updated: 2019-11-28Bibliographically approved

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