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AGV / ASRS

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

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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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