Automated Raw Material Delivery

Automated Raw Material Delivery BRANDON KENNY SUPERVISOR: DR. STEPHEN BROWN.

Project Opportunity This project has been proposed to the college by myself in collaboration with Kyte Powertech. Kyte Powertech has recently been in the process of streamlining one of the production lines seen on site. This recent change has provided the opportunity to automate some aspects of the production line and this project will investigate the automation of delivering materials to this production line..

Current system Manual handling system: Human driven system in which a material handler must travel to collect and e ovos deliver the required materials to the production line where necessary. 1 -vos 000 Iph Connections prep prep.

Project aim To investigate the projected affects of introducing an automated raw material delivery system to Kyte Powertech. Introduce an Automated Guidance Vehicle system into the gazebo simulation of the chosen environment. Project Objectives • • • Introduce AGV into the environment and ensure it is fully controllable. Update floor maps to more accurate models suitable for simulation Control where the AGV can travel using a script that can be modified and expanded upon easily. Implement updated floor map into the simulator. Carry out testing of random travel tasks to estimate the output over a full day and its required output..

Nav goals This script was Used to send the goal position to the AGVs, This script uses known coordinated of each workstation and sends the coordinates to the navigation stack which the robot utilises to travel from point to point goal"); ac. sendGoaI (goal ) ; // wait until the robot reaches the goal ac. waitForResuIt() ; if(ac .getState() actionlib: :SimpIeCIientØaIState: :SUCCEEDED) ROS_INFO("The robot has arrived at the goal location"); ROS_INFO("The robot failed to reach the goal location for reason"); goal.target_pose.pose.orientation.w l.ø; break; case 3: cout "in t•bving to Location: HV winding I\n" goal.target_pose.pose.position.x = 4.739363; goal.target_pose.pose.position.y = 5.412841 ; goal. target_pose.pose.orientation.w = 1.0;.

Single robot test.

Expected results After testing this system, it was found that the longest time on average that this robot would take to complete a task would be a total elapsed time of four minutes. This is also factoring in the time taken for the robot to collect and unload the required materials at both the collection and delivery point. In a standard shift there is a total of four hundred and twenty fou minutes available. This means that the robot WOUld be capable of carrying out a total of 106 tasks per shift which far exceeds the required production amount of around sixty.