Automatic Retrieval of Material from Storage

Automatic Retrieval of Material from StorageMain aim of the proposed project is to develop a robot that can be used as a material fetcher from a known storage. The model that we assumed here is a generic abstraction of several type of fetching purposes. It handles application in relling materials in a go down scenario or in a library or for an assembly line. Main objective of this robot is to fulfil the requests made to it in a matter which reduces the delay from the associated deadline. These requests are dynamic in nature. We can schedule and fetch the material by using a Fire Bird V Robot and a central server.

Main objective of the proposed ARMS (Automated Retrieval of Material from Storage) System is to fetch the materials from a known storage based on reducing the total delay caused due to the schedule. Through a GUI, the in requests are fed in a central server and these requests are handled through online. To minimize the total delay caused due to the schedule, a best schedule is created by using dynamic scheduling.

 

System Architecture

Firebird V

We mounted the robot with bins (3 in this case), one for each type of object and an Arm assembly which is used to pick-up the objects and to keep them in the appropriate bin. The main objective of the robot is to follow the instructions like move left, move right that have been given by the central server.

1. Move Left

2. Move Right

3. Forward

4. Go to Garage: If the robot receives the “Go to garage” command on an intersection, then it will go to the garage (which is located towards the south-west counter with respect to the intersection).

– are the 4 basic instructions that are given to the robot.

 

Once robot orients itself in the garage then it is ready to take the object from the garage and place it in the appropriate bin. Then the robot will return to the intersection and it is ready to receive further instructions from the central server. The robot moves around the Arena and at a time, it executes one instruction while following the white lines. After successfully executing an instruction, it will send the corresponding acknowledgement to the central server. By using XBee interface, central server sends the instructions to the robot.

 

Arena Storage

1. White lines- which are used to guide the robot.

2. Intersections- are meeting points of lines.

3. Garages- are located in the South- West direction with respect to the intersection. One garage is corresponding to each intersection.

– are the main components of the arena.

 

The Central Server

The central server will schedule all the tasks and reduces the overall delay (algorithm explained in the next section) that have been queued. Once the correct Schedule is deciphered, then the central server will send one instruction to the robot and makes the robot to complete the assigned task within scheduled time. The central server also handles online requests through an interface. Then it reduces the delay including the newly entered task by modifying the running schedule.

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