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Innovative Automation System: AGV and ASRS Integration

Explore the design of an efficient Automated Guided Vehicle (AGV) and Automated Storage and Retrieval System (ASRS) for warehouse operations, including behaviors, implementation, and communication protocol. Learn about navigation, obstacle detection, queue management, and communication processes in this intelligent machine design project. Discover the required modules, sensors, remote control RF data link, and communication protocols in detail. Dive into the future study suggestions for further enhancements in warehouse automation.

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Innovative Automation System: AGV and ASRS Integration

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  1. 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

  2. Summary • Concept • Behaviors • Implementation • Communication protocol • Conclusions • Suggestions for future study

  3. Inspiration

  4. 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

  5. Behaviors

  6. Design Specifications • Operate in a 4’x8’ model warehouse • Navigation • Obstacle detection • Queue • Communication • Mechanical fork lift

  7. Model Warehouse • Shipping and receiving docks • Transition dock • Storage shelves

  8. Navigation • Follow a high contrast line • Cartesian coordinate system • Knowledge of current location, destination, and direction

  9. 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

  10. 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

  11. IN OUT Simulation DOCKS

  12. DOCK SHELVES Summary Purpose♦ Transfer products safely on and off shelf space

  13. Implementation

  14. Required Modules • Fork Lift • Power • Motor Driver • L.C.D. • Sensors • RF Transceiver

  15. Fork Lift (ASRS) • Capable of lifting pallets onto a 3 tier shelf • Screw type powered by a 200 RPM motor • Expensive

  16. Fork Lift (AGV) • One height • Tilt type powered by a servo • Cheap

  17. Low Priority Remote control RF data link High Priority Fork RF Timer overflow Interrupts

  18. Power • Required voltage levels: • 3.3V: Logic • 5V: Motor driver, LCD, servo • 12V: Gear head motors

  19. Backbone Sensors • Line follower: Optek OPB745 Reflective Object Sensors • Obstacle detection: Sharp GPD2D12 infrared range finders • Obstacle collision: Bump sensors

  20. Line Follower Module

  21. IR Detector • Sony television remote (code #202)

  22. Decoding Technique

  23. Remote Button “3” Initial Sample Mask Reverse First Signal Subsequentsamples

  24. Results

  25. RF Transceivers • Laipac TRF-2.4G • 1Mbps • Hardware CRC • Dual channel, full duplex • Two operating modes: Direct Mode and Shockburst

  26. Communication Protocol

  27. Stop and Wait ARQ • Error detection • Positive acknowledgment • Retransmission after timeout • Negative acknowledgement and retransmission

  28. Header Error Control • Purpose: lost or damaged frames

  29. Alternating Frame Numbers

  30. Special Considerations • Dynamic resynchronization • Stations have different timeout lengths • Lost connection • Duplicate transmissions

  31. 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

  32. Conclusions • Navigation • Communication • Remote control • RF protocol • Experience • Debugging • Design software: Eagle & AutoCAD

  33. Suggestions for Future Study • Sliding Window ARQ • Larger warehouse with more shelves • Swarm Approach: Multiple AGVs for every ASRS • “Conveyor Belt” robot

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