Model robotického skladu
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Date
2021-06-15
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Abstract
Tato práce se zabývá vytvořením modelu robotického skladovacího systému SysLogeum 3000. Práce popisuje návrh programu a modelů robotů, kolejnic a výdejního místa. Dále je v této práci popsán proces výběru HW části a DPS. Modely robotů komunikují mezi sebou za využití protokolu ESP-NOW. Jeden z modelů robotů se pohybuje podél osy X, druhý se pohybuje podél osy Y. Také je jeden z modelů schopen spouštět a zvedat box podél osy Z. Modely robotů počítají kolejnice a díky tomu jsou schopny detekovat situaci, kdy může dojít ke kolizi dvou modelů. Každý z robotů projíždí dráhu od výdejního místa ke kraji kolejnic ve své ose. Pokud je to model, který má mechanismus pro pohyb osou Z, tak spustí box a následně ho zvedne. Potom model mění směr jízdy. Pokud se model s mechanismem spouštění a zvedání boxu zastaví na výdejním místě a spustí box, výdejní místo připevněné k dopravnímu pásu se také začne pohybovat, čímž pohybuje boxem.
The aim of this work is to create a model of the robotic storage system SysLogeum 3000. The work describes the process of writing the program and creating models of the robot, rails and dispensing point. Furthermore, this work describes the process of selecting the HW part and PCBs. Robot models communicate with each other using the ESP-NOW protocol. One of the robot models moves along the X-axis, the other moves along the Y-axis. One of the models is also able to lower and lift the box along the Z-axis. The robot models count the rails. Because of that they are able to detect a situation where two models may collide.Each of the robots travels from the dispensing point to the edge of the rails in its axis. If it is a model that has a mechanism for moving the box along Z axis, then it lowers the box and then lifts it. After that the model changes direction. If the model with the box lowering and lifting mechanism stops at the dispensing point and lowers the box, the dispensing point will also start moving box which is attached to the conveyor belt of the dispensing point.
The aim of this work is to create a model of the robotic storage system SysLogeum 3000. The work describes the process of writing the program and creating models of the robot, rails and dispensing point. Furthermore, this work describes the process of selecting the HW part and PCBs. Robot models communicate with each other using the ESP-NOW protocol. One of the robot models moves along the X-axis, the other moves along the Y-axis. One of the models is also able to lower and lift the box along the Z-axis. The robot models count the rails. Because of that they are able to detect a situation where two models may collide.Each of the robots travels from the dispensing point to the edge of the rails in its axis. If it is a model that has a mechanism for moving the box along Z axis, then it lowers the box and then lifts it. After that the model changes direction. If the model with the box lowering and lifting mechanism stops at the dispensing point and lowers the box, the dispensing point will also start moving box which is attached to the conveyor belt of the dispensing point.
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Subject(s)
Arduino, model, sklad, Espressif ESP32, ESP-NOW, robot, Arduino, model, warehouse, Espressif ESP32, ESP-NOW, robot