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AGV / ASRS. April 12 th , 2005 Student Names: Trevor Skipp and Albert Chung Instructor: A. A Arroyo University of Florida Department of Electrical and Computer Engineering EEL 5666: Intelligent Machine Design Laboratory. Summary. Concept Behaviors Implementation Communication protocol

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agv asrs

AGV / ASRS

April 12th, 2005

Student Names: Trevor Skipp and Albert Chung

Instructor: A. A Arroyo

University of Florida

Department of Electrical and Computer Engineering

EEL 5666: Intelligent Machine Design Laboratory

summary
Summary
  • Concept
  • Behaviors
  • Implementation
  • Communication protocol
  • Conclusions
  • Suggestions for future study
designers approach
Designers’Approach
  • Divide tasks among two automated vehicles
    • AGV (Automated Guided Vehicle)
      • Inexpensive, small, fast, and nimble
    • ASRS (Automated Storage and Retrieval System)
      • Expensive, tall, slow, and bulky
design specifications
Design Specifications
  • Operate in a 4’x8’ model warehouse
  • Navigation
  • Obstacle detection
  • Queue
  • Communication
  • Mechanical fork lift
model warehouse
Model Warehouse
  • Shipping and receiving docks
  • Transition dock
  • Storage shelves
navigation
Navigation
  • Follow a high contrast line
  • Cartesian coordinate system
  • Knowledge of current location, destination, and direction
queue
Queue
  • FIFO job processing
  • Incoming pallets are marked with an age
  • Outgoing pallets are delivered oldest first
  • Application to food and other products that can expire
communication
Communication
  • User input
    • Notify that a pallet is entering the warehouse
    • Request a pallet to be shipped out
  • Data link between vehicles
    • Assign tasks
    • Determine transition dock
    • Notify when a task is completed
simulation

IN

OUT

Simulation

DOCKS

required modules
Required Modules
  • Fork Lift
  • Power
  • Motor Driver
  • L.C.D.
  • Sensors
  • RF Transceiver
fork lift asrs
Fork Lift (ASRS)
  • Capable of lifting pallets onto a 3 tier shelf
  • Screw type powered by a 200 RPM motor
  • Expensive
fork lift agv
Fork Lift (AGV)
  • One height
  • Tilt type powered by a servo
  • Cheap
interrupts
Low Priority

Remote control

RF data link

High Priority

Fork

RF Timer overflow

Interrupts
power
Power
  • Required voltage levels:
    • 3.3V: Logic
    • 5V: Motor driver, LCD, servo
    • 12V: Gear head motors
backbone sensors
Backbone Sensors
  • Line follower: Optek OPB745 Reflective Object Sensors
  • Obstacle detection: Sharp GPD2D12 infrared range finders
  • Obstacle collision: Bump sensors
ir detector
IR Detector
  • Sony television remote (code #202)
remote button 3
Remote Button “3”

Initial Sample

Mask

Reverse

First Signal

Subsequentsamples

rf transceivers
RF Transceivers
  • Laipac TRF-2.4G
    • 1Mbps
    • Hardware CRC
    • Dual channel, full duplex
    • Two operating modes: Direct Mode and Shockburst
stop and wait arq
Stop and Wait ARQ
  • Error detection
  • Positive acknowledgment
  • Retransmission after timeout
  • Negative acknowledgement and retransmission
header error control
Header Error Control
  • Purpose: lost or damaged frames
special considerations
Special Considerations
  • Dynamic resynchronization
  • Stations have different timeout lengths
  • Lost connection
  • Duplicate transmissions
example
Example
  • ASRS
    • Places a command from the remote control onto the queue
    • Sends command to the AGV through RF
    • Sets timer and waits for an ACK
  • AGV
    • ACKs packet
    • Echoes packet back after the job is completed
    • Sets timer and waits for an ACK
  • ASRS
    • ACKs packet
    • Updates queue
conclusions
Conclusions
  • Navigation
  • Communication
    • Remote control
    • RF protocol
  • Experience
    • Debugging
    • Design software: Eagle & AutoCAD
suggestions for future study
Suggestions for Future Study
  • Sliding Window ARQ
  • Larger warehouse with more shelves
  • Swarm Approach: Multiple AGVs for every ASRS
  • “Conveyor Belt” robot