MINISTRY OF EDUCATION AND TRAINING HO CHI MINH CITY UNIVERSITY OF TECHNOLOGY AND EDUCATION FACULTY FOR HIGH QUALITY TRAINING GRADUATION THESIS ELECTRONICS AND COMMUNICATIONS ENGINEERING TECHNOLOGY DESIGN AND IMPLEMENTATION OF AGV COMMODITIES TRANSPORTATION ADVISOR : ASSOC. TRUONG NGOC STUDENTS : SONTRUONG THI BICH CHI QUACH THAI LONG SKL010821 Ho Chi Minh City, July 2023 HO CHI MINH CITY UNIVERSITY OF TECHNOLOGY AND EDUCATION FACULTY FOR HIGH-QUALITY TRAINING CAPSTONE DESIGN PROJECT DESIGN AND IMPLEMENTATION OF AGV COMMODITIES TRANSPORTATION Students: TRUONG THI BICH CHI ID Student: 19161044 QUACH THAI LONG ID student: 18161023 MAJOR : ELECTRONICS AND COMMUNICATIONS ENGINEERING TECHNOLOGY Advisor: Assoc. TRUONG NGOC SON Ho Chi Minh City,07 /2023 THE SOCIALIST REPUBLIC OF VIETNAM Independence – Freedom– Happiness -------- Ho Chi Minh City ,July 7 , 2023 PROJECT ASSIGNMENT Student name: Trương Thị Bích Chi Student ID: 19161044 Student name: Quách Thái Long Student ID: 18161023 Major: Electronics and Communication Class: 19161CLA2, 18161CLA2 Engineering Technology Advisor: Assoc. Trương Ngọc Sơn Phone number: 0931085929 Date of assignment: _____________________ Date of submission: _____________ 1.
Project title: Design and implementation of AGV Commodities Transportation 2. Initial materials provided by the advisor: ___________________________________ 3. Content of the project: _________________________________________________ 4. Final product: ________________________________________________________ CHAIR OF THE PROGRAM ADVISOR (Sign with full name) (Sign with full name) i THE SOCIALIST REPUBLIC OF VIETNAM Independence – Freedom– Happiness Ho Chi Minh City, July 7, 2023 ADVISOR’S EVALUATION SHEET Student name: Trương Thị Bích Chi .Student ID: 19161044 Student name: .Quách Thái Long .Student ID: 18161023 Major: Electronics and Communication Engineering Technology Project title: Design and implementation of AGV commodities transportation Advisor: Assoc.
Trương Ngọc Sơn EVALUATION Content of the project:. Approval for oral defense? (Approved or denied). Mark…………………… (in words…………………………. ) Ho Chi Minh City, July 7, 2023 ADVISOR ii THE SOCIALIST REPUBLIC OF VIETNAM Independence – Freedom– Happiness -------- Ho Chi Minh City, July 7, 2023 PRE-DEFENSE EVALUATION SHEET Student name:.
Name of Reviewer:. Content and workload of the project. Approval for oral defense? (Approved or denied) .) Ho Chi Minh City,July 7, 2023 REVIEWER (Sign with full name) iii THE SOCIALIST REPUBLIC OF VIETNAM Independence – Freedom– Happiness -------- Ho Chi Minh City, July 7, 2023 EVALUATION SHEET OF DEFENSE COMMITTEE MEMBER Student name:. Name of Reviewer:.
Content and workload of the project. Approval for oral defense? (Approved or denied) .) Ho Chi Minh City, July 7, 2023 REVIEWER (Sign with full name) iv DISCLAIMER Project implementation group states that this is the final report for Capstone Design Project, "Design and implementation of AGV commodities transportation" .The simulations and study findings are accurate and were carried out entirely under the direction of the instructor, Assoc. TRUONG NGOC SON. The report does not duplicate any other sources either.
Additionally, the paper includes a variety of cited and carefully labeled reference materials. Before the department, faculty, and school, Project implementation group would like to fully accept responsibility for this promise. Student TRUONG THI BICH CHI QUACH THAI LONG v ACKNOWLEDGEMENT To complete this Capstone Design Project, first of all, Project implementation group would like to express our sincere thanks to all the teachers in the Department of Electronic and communication Engineering Technology who have enthusiastically guided and equipped us with the necessary knowledge useful in the past semesters. Project implementation group would like to express our deep gratitude to Assoc.
Truong Ngoc Son, who directly guided and created all conditions to help us during the process of Capstone Design Project. Due to the short implementation time of the project, limited knowledge, limitations and errors in the topic have not been completely overcome. Project implementation group looks forward to receiving guidance and suggestions from you. Project implementation group sincerely thank you! Student TRUONG THI BICH CHI QUACH THAI LONG vi CONTENTS LIST OF FIGURES.
ix LIST OF TABLES. xi LIST OF ABBREVIATIONS. xii CHAPTER 1 INTRODUCTION .2 REGARDING RATIONALE OF THE PROJECT .3 OBJECT AND SCOPE OF THE PROJECT .5 THE PROJECT’S CONTENT .6 STRUCTURE OF THE PROJECT. 4 CHAPTER 2 LITERATURE REVIEW .1 OVERVIEW OF THE LIBRARY OPEN CV .1 GAUSSIAN IMAGE PROCESSING .2 CONVERT RGB TO HSV .5 APPLYING PD CONTROL .6 CALCULATE THE ARM ROBOT .1 OVERVIEW OF RASPBERRY PI 4.
26 CHAPTER 3 DESIGN OF THE SYSTEM .1 REQUIREMENTS OF THE SYSTEM .2 HARDWARE CALCULATION AND DESIGN.2 Central Processing Block .3 The Schematic of system. 35 CHAPTER 4 EXPERIMENT AND DISCUSSION .1 The results of system. 50 CHAPTER 5 CONCLUSION AND FUTURE WORK. 54 viii LIST OF FIGURES Figure 2.1 The Timeline of OpenCV .2 Working of QR code .3 Convert to Blur Image.4 Convert Blur Image to HSV Image for yellow color .5 The results of red when convert RGB to HSV .6 The results of blue when convert RGB to HSV .7 The results of convert Original Image to Edge Image .8 The principle of Hough transformation .9 Calculate the equation line through 2 points.11 Arm's X, Y, and Z coordinate system .12 The system of Raspberry Pi 4 .13 The System of Arduino Uno R3 .15 Black 4MP USB Web Camera .17 Pin out of the MG996R .18 PWM driver phase .1 Block diagram of AGV Commodities Transportation .2 The connection diagram of the input block.3 The connection diagram of Central Processing Block .4 The connection diagram of memory card and Raspberry Pi .5 The connection diagram of motor control .6 The model of fourth-degree robotic arm.7 The connection diagram of Arm robot.8 The schematic of system .9 Flowchart of AGV Commodities Transportation .10 Flowchart of detect lane .11 Flowchart of stop line .12 Flowchart of the arm robot.1 The result of the system .2 The result of arm robot pick up goods .3 The result of the system detect lane forward .4 The model experiment of detect lane forward .5 The result of the system detect lane turn left .6 The model experiment of detect lane turn left .7 The result of the system detect lane turn right .8 The model experiment of detect lane turn right .9 The model experiment of stop warehouse 1 .10 The model experiment of stop warehouse 2 .11 The model experiment of determine original position.
50 x LIST OF TABLES Table 2.1 The specification of the Arduino Uno R3 .2 Specification of the MG996R.1 Calculate consumption current of Raspberry Pi 4 .2 Calculate consumption current of motor control.1 Performance results of the system .2 Performance results when the vehicle detect lane without and with arm robot 51 xi LIST OF ABBREVIATIONS CV Computer Vision AGV Automated Guided Vehicle HMDI High-Definition Multimedia Interface GPU Graphics Processing Unit CPU Central Processing Unit HSV Hue-Saturation-Value MP Megapixel PID Proportional, Integral and Derivative xii ABSTRACT The Automated Guided Vehicle (AGV) is an intelligent machine that can determine its motion state based on environmental factors. A typical AGV can operate and move on its own without the need for human involvement. We describe in this study a basic strategy based on computer vision techniques that assists the vehicle in moving inside the lane borders. The visual image will be processed to detect lane boundaries and estimate road lane curvature using the vector-lane-concept.
Using this data, we calculate the steering angle, which is used to drive the car within the lane limits without the use of any other control method. Several demonstrations were performed utilizing various photos to demonstrate the results of lane-boundary detection and vehicle navigation. Finally, the proposed method can be used to drive a vehicle to move inside lane borders without the need for human interaction. In addition, to facilitate the delivery of products, the project implementation group created and built a vehicle model that combined QR code scanning to locate the warehouse and the robot arm to pick up and transfer the goods.
Freight that moves on its own. The team employed hardware to implement this topic, which is an embedded computer Rasberry Pi 4 paired with a USB camera and a robotic arm. The project implementation group is developing a control application utilizing Python, Arduino, and the opencv package. xiii CHAPTER 1 INTRODUCTION 1.1 THE PROBLEM Our country is in the process of industrialization and modernization.
To be able to go up and catch up with countries in the region and in the world, the Korean industry needs to access modern technologies and equipment. Technical staff need to be equipped with new knowledge, so that they can accelerate the development processes of the country. Robotic engineering has been and is being concerned with wide applications in many fields in many countries. It has brought great efficiency in industrial production, in national defense, medicine, society, and exploration.
However, the situation of using our production robot is still rare. The application of industrial robots is still a new field for the domestic industry. In the general development trend, the research and use of robots in Vietnam will certainly develop. AGV is a kind of robot used abroad by industries for automatic conveying.
However, for Vietnam this technology has not been applied much in practice. Currently, most of the industries in our country are large-scale but not of high quality due to limitations in science and technology, rudimentary machinery and equipment, so labor productivity is only average. because profits fell due to hiring a very large number of workers. Through some surveys, the company wants to bring automation into production to relieve manual labor and improve labor productivity.
Thereby, the group proposed to replace labor in the transportation process. My group chose the topic " Design and implementation of AGV commodities transportation " to understand the working mechanism of Raspberry Pi 4 and be able to control the vehicle in difficult terrain environments, their wide application and wide application. Its widespread in automotive systems. The utility helps to manage and track the journey that the vehicle moves.2 REGARDING RATIONALE OF THE PROJECT To build a complete system, this is a rather broad topic, and it takes experts with knowledge and experience to be able to develop a stable, safe system that operates smoothly on many conditions.
Because of the wide application and 1 complexity of the problem, the thesis is only at the level of learning algorithms and applying basic algorithms to be able to build a complete operational model.2 RESEARCH MISSION AGVs in the research project are unmanned industrial cargo vehicles. It is available in different sizes to carry loads from a few kilograms to hundreds of panels. However, because within the framework of a graduation project and with limited funds and capabilities, to make the topic highly feasible, our group has set out tasks in designing and manufacturing AGV vehicles. − Fabrication of the mechanical structure for the AGV is a vehicle with a towing arm.
Ensure the stability of the vehicle and the arm when picking up the goods during the move, creating stability and convenience for the control. − Electronic circuit design for stable operation of AGV. − Learn and design a car power source that is a DC source 1.3 OBJECT AND SCOPE OF THE PROJECT 1.1 OBJECT Bring automation into production to replace workers in some critical stages and some dangerous places Design and build a vehicle that can recognize the code of a warehouse or box and then probe the way like an automatic robot and can't pick up the goods at the desired location. And from there it will replace workers who do heavy work and have to deal with the following requirements: − Improve labor productivity, increase time and number of product shipments and return profits to the company.
− The topic includes many related specialized subjects, so through the topic, it helps me to know and grasp more deeply about the knowledge I have learned. − Research of Board Raspberry Pi 4. − Knowledge of Python programming language. − Knowledge of Image Processing − For factories and companies in need 2 1.