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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


Purpose transfer products safely on and off shelf space

DOCK SHELVES

Summary

Purpose♦ Transfer products safely on and off shelf space



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