Robotized Serving of Automated Warehouse
Name of demonstration
Robotized Serving of Automated Warehouse
The demonstration was created as a fully functional, scaled-down, table-top model of an automated warehouse served by an omnidirectional mobile robot to be used as an attraction in exhibitions. The goal is to demonstrate the feasibility of using omnidirectional mobile robots in intralogistics.
Agile manufacturing is one of the main trends in research and development nowadays. The TRINITY project aims to increase the agility of various manufacturing processes. This section describes the hardware and software infrastructure and requirements, furthermore, the available modules offered of the Use Case demonstration titled Robotized serving of automated warehouse of the TRINITY project. The demonstration incorporates existing automated ground vehicle (AGV) solutions and other emerging technologies widely used in intralogistics: for example, optical line following and visual serving of an omnidirectional mobile robot. The potential users are SMEs who are dealing with smart assembly involving mobile robots.
Owner of the demonstrator
The Budapest University of Technology and Economics
H52.1 - Warehousing and storage
Mobile robots, Autonomous robotic systems, Logistics in manufacturing, Motion Control Systems, Multi sensor systems.
Intralogistics, AGVs and AMRs
Benefits for the users
Possible benefits of the demonstration are applications with mobile robots, optical character recognition, target detection, and controlled maneuvering, as well as path tracking without compromising safety. Furthermore, increased digitalization, new functionalities of systems, and increased efficiency. Applications based on this demonstration can optimize the traceability, speed, and accuracy of routine operations in warehousing and manufacturing.
Autonomous guided vehicles, also known as AGVs, are often used in applications where material must be moved between facilities, covering distances greater than 300 meters. Mobile robots can also bring value in long distance applications if multiple inputs and output locations are required, especially if it’s important to make changes during transportation. Autonomous mobile robots (AMRs) are a good solution for last-meter deliveries where flexibility is required.
Risks and limitations
The demonstration is a closed system with no need for access to the internet. Nevertheless, cybersecurity issues need to be taken into account to ensure the fluent and safe operation of the system in all conditions.
The setup consists of a laptop, a mobile robot (FESTO Robotino®), and an onboard Wi-Fi access point mounted on the robot. The mobile robot runs back and forth from the User to the Wending machine, serving the desired product. The elements of the setup are on top of a 2×2 m table. The User stands by the table and starts a delivery process by showing the desired product’s card to the robot’s camera.
Figure Network diagram of the demonstration.
The laptop connects to the onboard access point via Wi-Fi and runs the robot control software on a Windows operating system. During operation, the robot control software exchanges control messages with the mobile robot using the qDSA protocol on TCP and receive images from the mobile robot mounted web camera on UDP. The Wi-Fi access point provides wired and wireless networks and DHCP service. The mobile robot runs its onboard control software on an Ubuntu 9 RTE operating system extracted from an image file on each boot-up process. During operation, the mobile robot connects to the onboard access point via ethernet cable, and exchanges control messages with the laptop using the qDSA protocol on TCP, and sends images from the web camera on UDP.
Table Vulnerabilities of the system and the mitigation strategies
Technology readiness level
Sectors of application
Automated storage and retrieval systems , Automotive industry, Manufacturing.
Potential sectors of application
Hardware / Software
Omnidirectional Mobile Robot
Pen Wending Machine
Optical Character Recognition
Training material is under development.
This module consists of three sub-modules, each performing different sensory tasks.
Mobile Robot Motion Control
This module consists of two sub-modules, each performing different motion control tasks.
Queued Message Handler Software Architecture
The main functionality of the module is to organize the whole software in separate tasks (modules) and exec...
The main functionality of the module is to communicate with the Robotino® . The Robotino® is a mobile rob...